Fuzzy Control for Simplified Lumbar Spine Robotic Mechanism Motion

Paixao T.; Alvarez A.B.; Florez R.; Palomino-Quispe F. · ICNSC 2023 - 20th IEEE International Conference on Networking, Sensing and Control (2023) · DOI: 10.1109/icnsc58704.2023.10319033

Resumen

The fuzzy controller refers to a powerful intelligent control tool, which can provide control systems with a higher efficiency than other controllers, because it has in its characteristics, components that correspond to the requirements present in control problems involving complex and nonlinear systems, with the presence of computational inaccuracies related to the input parameters in the systems. This paper describes the development of a fuzzy controller for motion control of a simplified robotic lumbar spine model. The behavior of the controller was simulated using a simplified robotic model that reproduces the movement of two vertebrae. The results of the simulations of the experimental tests, show relevant characteristics of the controller about the response speed of the system, reduction of the tracking error of the system and minimal vibration in the tracking process, ensuring robustness in the motion path of the system.

Instituciones: Universidad Nacional de San Antonio Abad del Cusco