Application of fuzzy logic for robotic arm joint control of an explosive ordnance disposal unit

College

Gokongwei College of Engineering

Department/Unit

Mechanical Engineering

Document Type

Article

Source Title

Journal of Advanced Computational Intelligence and Intelligent Informatics

Volume

28

Issue

1

First Page

21

Last Page

28

Publication Date

2024

Abstract

Precise luffing of payload in mobile cranes is a crucial part of material handling and safety in industrial operations. Explosive ordnance disposal uses a bomb disposal robot to safely disable explosive devices at a safe distance. This robot is a mobile jib crane type with a gripper as an end effector instead of the typical suspension cable with a hook. The common challenge of this crane type is the arm/jib movement sensitivity with respect to tipover stability of the crane body. This is directly influenced by the payload and constrained by the degree of freedom. This paper presents a control strategy of the joint for luffing such that the back wheels remain in contact with the surface ground and avoid bucking at any given instance of weight change in the payload. Fuzzy logic was applied to control the motor torque and luffing angle of the arm in response to the load and gripper opening size to maintain the tip -over stability margin at the highest value possible. The response curves at different configurations of the two input signals were also analyzed based on the rules set to determine its precision with respect to the expected response curve.

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Digitial Object Identifier (DOI)

10.20965/jaciii.2024.p0021

Disciplines

Mechanical Engineering

Keywords

Explosive ordnance disposal; Ordnance disposal units; Fuzzy logic

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