Development of a Power Assist Lifting Device with a Fuzzy PID Speed Regulator

Yesset Raziyev, Ramil Garifulin, Almas Shintemirov, Ton Do

Research output: Contribution to journalArticle

Abstract

This paper introduces the development of a one-degree-of-freedom (1DOF) power assist device that helps to lift objects and facilitate the operator's job. The existing designs were examined for different control approaches and human-robot cooperation intuitiveness. The project involves the mechanical design of the experimental setup and development of advantageous control system. Since a task for the device is highly dependent on the mass of handling object, an adaptive strategy is a major concern of control system design. The controller design is represented by two loops to control admittance and velocity. To reduce the response time of the device, two velocity controllers are designed and compared with the embedded one. The first is a conventional proportional-integral-derivative controller which has shown better performance than the native controller. The second is derived from the first using fuzzy logic for better handling of different manipulation scenarios. The results illustrate that a faster response of the device can be achieved using a fuzzy logic controller due to the nonlinear nature that allows adapting to changes in velocity error and applied load.

Original languageEnglish
Article number8660631
Pages (from-to)30724-30731
Number of pages8
JournalIEEE Access
Volume7
DOIs
Publication statusPublished - Jan 1 2019

Fingerprint

Speed regulators
Controllers
Fuzzy logic
Control systems
Systems analysis
Robots
Derivatives

Keywords

  • feedback control
  • fuzzy logic control
  • industry
  • object manipulation
  • Power assist robot

ASJC Scopus subject areas

  • Computer Science(all)
  • Materials Science(all)
  • Engineering(all)

Cite this

Development of a Power Assist Lifting Device with a Fuzzy PID Speed Regulator. / Raziyev, Yesset; Garifulin, Ramil; Shintemirov, Almas; Do, Ton.

In: IEEE Access, Vol. 7, 8660631, 01.01.2019, p. 30724-30731.

Research output: Contribution to journalArticle

@article{45b38cb9035f419c9f6a34fd293113cb,
title = "Development of a Power Assist Lifting Device with a Fuzzy PID Speed Regulator",
abstract = "This paper introduces the development of a one-degree-of-freedom (1DOF) power assist device that helps to lift objects and facilitate the operator's job. The existing designs were examined for different control approaches and human-robot cooperation intuitiveness. The project involves the mechanical design of the experimental setup and development of advantageous control system. Since a task for the device is highly dependent on the mass of handling object, an adaptive strategy is a major concern of control system design. The controller design is represented by two loops to control admittance and velocity. To reduce the response time of the device, two velocity controllers are designed and compared with the embedded one. The first is a conventional proportional-integral-derivative controller which has shown better performance than the native controller. The second is derived from the first using fuzzy logic for better handling of different manipulation scenarios. The results illustrate that a faster response of the device can be achieved using a fuzzy logic controller due to the nonlinear nature that allows adapting to changes in velocity error and applied load.",
keywords = "feedback control, fuzzy logic control, industry, object manipulation, Power assist robot",
author = "Yesset Raziyev and Ramil Garifulin and Almas Shintemirov and Ton Do",
year = "2019",
month = "1",
day = "1",
doi = "10.1109/ACCESS.2019.2903234",
language = "English",
volume = "7",
pages = "30724--30731",
journal = "IEEE Access",
issn = "2169-3536",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - JOUR

T1 - Development of a Power Assist Lifting Device with a Fuzzy PID Speed Regulator

AU - Raziyev, Yesset

AU - Garifulin, Ramil

AU - Shintemirov, Almas

AU - Do, Ton

PY - 2019/1/1

Y1 - 2019/1/1

N2 - This paper introduces the development of a one-degree-of-freedom (1DOF) power assist device that helps to lift objects and facilitate the operator's job. The existing designs were examined for different control approaches and human-robot cooperation intuitiveness. The project involves the mechanical design of the experimental setup and development of advantageous control system. Since a task for the device is highly dependent on the mass of handling object, an adaptive strategy is a major concern of control system design. The controller design is represented by two loops to control admittance and velocity. To reduce the response time of the device, two velocity controllers are designed and compared with the embedded one. The first is a conventional proportional-integral-derivative controller which has shown better performance than the native controller. The second is derived from the first using fuzzy logic for better handling of different manipulation scenarios. The results illustrate that a faster response of the device can be achieved using a fuzzy logic controller due to the nonlinear nature that allows adapting to changes in velocity error and applied load.

AB - This paper introduces the development of a one-degree-of-freedom (1DOF) power assist device that helps to lift objects and facilitate the operator's job. The existing designs were examined for different control approaches and human-robot cooperation intuitiveness. The project involves the mechanical design of the experimental setup and development of advantageous control system. Since a task for the device is highly dependent on the mass of handling object, an adaptive strategy is a major concern of control system design. The controller design is represented by two loops to control admittance and velocity. To reduce the response time of the device, two velocity controllers are designed and compared with the embedded one. The first is a conventional proportional-integral-derivative controller which has shown better performance than the native controller. The second is derived from the first using fuzzy logic for better handling of different manipulation scenarios. The results illustrate that a faster response of the device can be achieved using a fuzzy logic controller due to the nonlinear nature that allows adapting to changes in velocity error and applied load.

KW - feedback control

KW - fuzzy logic control

KW - industry

KW - object manipulation

KW - Power assist robot

UR - http://www.scopus.com/inward/record.url?scp=85064611392&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85064611392&partnerID=8YFLogxK

U2 - 10.1109/ACCESS.2019.2903234

DO - 10.1109/ACCESS.2019.2903234

M3 - Article

VL - 7

SP - 30724

EP - 30731

JO - IEEE Access

JF - IEEE Access

SN - 2169-3536

M1 - 8660631

ER -