Open Access

ARTICLE

Actuator Fluid Control Using Fuzzy Feedback for Soft Robotics Activities

K. Karnavel^1,*, G. Shanmugasundaram², Satish S. Salunkhe³, V. Kamatchi Sundari⁴, M. Shunmugathammal⁴, Bal Krishna Saraswat⁵

1 Anand Institute of Higher Technology, Chennai, 603103, India
2 Sri Manakula Vinayagar Engineering College, Puducherry, 605107, India
3 Computer Engineering Department, Terna Engineering College, 400706, India
4 SRM Institute of Science and Technology, Ramapuram, Chennai, 600089, India
5 Faculty of Engineering & Technology, SRM Institute of Science & Technology, NCR Campus, Uttar Pradesh, 201204, India

* Corresponding Author: K. Karnavel. Email:

Intelligent Automation & Soft Computing 2022, 32(3), 1855-1865. https://doi.org/10.32604/iasc.2022.023524

Received 11 September 2021; Accepted 22 October 2021; Issue published 09 December 2021

Abstract

Soft robotics is a new field that uses actuators that are non-standard and compatible materials. Industrial robotics is high-throughput manufacturing devices that are quick and accurate. They are built on rigid-body mechanisms. The advancement of robotic production now depends on the inclusion of staff in manufacturing processes, allowing for the completion of activities that need cognitive abilities that are now beyond the scope of artificial networks. Hydrostatic pressure is used to achieve high deflections of structures that are based on the elastomeric in Fluid Actuators (FAs). Soft actuators based on the fluid are a popular choice safe for humans and lightweight robots. However, owing to a deficiency of durable, accurate, and affordable sensors that can be combined with actuator systems that are highly deformable and that use low-cost materials and production, closed-loop management of such actuators remains difficult. Such actuators, in combination with hydrodynamic force feedback, form a series-elastic actuation (SEA), which eliminates virtually friction from all driving-point. Fuzzy control is a smart computing analysis technique that enables complex systems to be controlled independently of a mathematical model. Fuzzy logic is used to optimize the parameters of a Fuzzy Logic Controller (FLC’s) function to find the best rational controller for an automated robot. Because discontinuous endpoint friction is undetectable to the pressure of the fluid internally, feedback from traditional external force using force/tactile sensing is preferred. As a result, a fuzzy-based control using linear feedback was developed and used to test the integrated system’s response dynamically and location accuracy.

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Keywords

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