{"id":3598,"date":"2020-10-18T22:36:06","date_gmt":"2020-10-18T15:36:06","guid":{"rendered":"https:\/\/gulfthai.com\/?p=3598"},"modified":"2022-01-05T14:38:06","modified_gmt":"2022-01-05T07:38:06","slug":"%e0%b8%99%e0%b8%b3%e0%b9%80%e0%b8%aa%e0%b8%99%e0%b8%ad%e0%b8%9a%e0%b8%97%e0%b8%84%e0%b8%a7%e0%b8%b2%e0%b8%a1%e0%b8%a7%e0%b8%b4%e0%b8%88%e0%b8%b1%e0%b8%a2","status":"publish","type":"post","link":"https:\/\/gulfthai.com\/?p=3598","title":{"rendered":"Fuzzy Supervisory Control and Implementation of a Flexible-Joint SCARA Robot"},"content":{"rendered":"\n<p>\u0e19\u0e33\u0e40\u0e2a\u0e19\u0e2d\u0e1a\u0e17\u0e04\u0e27\u0e32\u0e21\u0e27\u0e34\u0e08\u0e31\u0e22 SCARA Robot \u0e17\u0e35\u0e48\u0e21\u0e2b\u0e32\u0e27\u0e34\u0e17\u0e22\u0e32\u0e25\u0e31\u0e22\u0e40\u0e01\u0e29\u0e15\u0e23\u0e28\u0e32\u0e2a\u0e15\u0e23\u0e4c\u0e27\u0e34\u0e17\u0e22\u0e32\u0e40\u0e02\u0e15\u0e28\u0e23\u0e35\u0e23\u0e32\u0e0a\u0e32<\/p>\n\n\n\n<p>\u0e01\u0e32\u0e23\u0e1b\u0e23\u0e30\u0e0a\u0e38\u0e21\u0e27\u0e34\u0e0a\u0e32\u0e01\u0e32\u0e23 \u0e04\u0e23\u0e31\u0e49\u0e07\u0e17\u0e35\u0e48 4 \u0e21\u0e2b\u0e32\u0e27\u0e34\u0e17\u0e22\u0e32\u0e25\u0e31\u0e22\u0e40\u0e01\u0e29\u0e15\u0e23\u0e28\u0e32\u0e2a\u0e15\u0e23\u0e4c \u0e27\u0e34\u0e17\u0e22\u0e32\u0e40\u0e02\u0e15\u0e28\u0e23\u0e35\u0e23\u0e32\u0e0a\u0e32<\/p>\n\n\n\n<p><a href=\"https:\/\/www.src.ku.ac.th\/conference\/\">https:\/\/www.src.ku.ac.th\/conference\/<\/a><\/p>\n\n\n\n<p>\u0e2a\u0e48\u0e07\u0e1a\u0e17\u0e04\u0e27\u0e32\u0e21\u0e27\u0e34\u0e08\u0e31\u0e22\u0e09\u0e1a\u0e31\u0e1a\u0e40\u0e15\u0e47\u0e21 (Full paper), \u0e15\u0e31\u0e49\u0e07\u0e41\u0e15\u0e48\u0e27\u0e31\u0e19\u0e19\u0e35\u0e49 &#8211; 30 \u0e01\u0e23\u0e01\u0e0e\u0e32\u0e04\u0e21 2563. \u0e1b\u0e23\u0e30\u0e01\u0e32\u0e28\u0e1c\u0e25\u0e1a\u0e17\u0e04\u0e27\u0e32\u0e21\u0e27\u0e34\u0e08\u0e31\u0e22, 3 \u0e2a\u0e34\u0e07\u0e2b\u0e32\u0e04\u0e21 2563<\/p>\n\n\n\n<p><a href=\"https:\/\/www.src.ku.ac.th\/gallery\/2563\/G413\/index.html\">https:\/\/www.src.ku.ac.th\/gallery\/2563\/G413\/index.html<\/a><\/p>\n\n\n\n<p>Publication <a href=\"https:\/\/gulfthai.com\/?page_id=1201\">\u0e1c\u0e39\u0e49\u0e0a\u0e48\u0e27\u0e22\u0e28\u0e32\u0e2a\u0e15\u0e23\u0e32\u0e08\u0e32\u0e23\u0e22\u0e4c \u0e14\u0e23.\u0e01\u0e34\u0e15\u0e15\u0e34\u0e1e\u0e07\u0e29\u0e4c \u0e40\u0e22\u0e32\u0e27\u0e32\u0e08\u0e32<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>Abstract<\/strong><\/h2>\n\n\n\n<p>Non-linearity and flexibility of a joint of SCARA Robot are more problematic in controller and challenging with Fuzzy Supervisory controller. In this research, the prototype flexible-joint robot was designed and tested.Dynamic model of the prototype was described by energy method; Lagrange equation was used to find the equation of motion. The experiment with a fuzzy controller was implemented with the prototype SCARA robot to find the tracking performance. The controller was comparing with the alternative PID controller. Fuzzy logic controller was significant reducing the residualvibration of links.<\/p>\n\n\n\n<p><strong>Keywords:<\/strong> Fuzzy Logic, Tracking Control, Flexible- joint, Residual Vibration &nbsp;<\/p>\n\n\n\n<p>Research Gate <a href=\"https:\/\/www.researchgate.net\/publication\/357577308_Fuzzy_Supervisory_Control_and_Implementation_of_a_Flexible-Joint_SCARA_Robot?_sg%5B0%5D=ALvEPn9lL6Lub7TcSuhEDFEB58b0zMHA8Uk4llT8ZJfUDsdu1JEoUrFe6nVoHJufGpE78PArFbNBoqZoftQ24CFpewCSfwnOmk7oMZP_.nSlwSSjVLWHa1BlaZtng4Yj0YBRUEeJ8A_fG20F8U4p3pVogblUBgvpeCvGd-CSI38zS8SyIYdhbMdtfbGWqqg\">Link<\/a><\/p>\n\n\n\n<p>Academia <a href=\"https:\/\/www.academia.edu\/67180118\/Fuzzy_Supervisory_Control_and_Implementation_of_a_Flexible_Joint_SCARA_Robot\">Link<\/a><\/p>\n\n\n\n<p>Project <a href=\"https:\/\/gulfthai.com\/?p=897\">\u0e42\u0e04\u0e23\u0e07\u0e01\u0e32\u0e23\u0e27\u0e34\u0e08\u0e31\u0e22\u0e01\u0e32\u0e23\u0e2d\u0e2d\u0e01\u0e41\u0e1a\u0e1a\u0e23\u0e30\u0e1a\u0e1a\u0e04\u0e27\u0e1a\u0e04\u0e38\u0e21\u0e41\u0e25\u0e30\u0e25\u0e14\u0e01\u0e32\u0e23\u0e2a\u0e31\u0e48\u0e19\u0e2a\u0e30\u0e40\u0e17\u0e37\u0e2d\u0e19\u0e02\u0e2d\u0e07\u0e41\u0e02\u0e19\u0e01\u0e25\u0e02\u0e49\u0e2d\u0e15\u0e48\u0e2d\u0e22\u0e36\u0e14\u0e2b\u0e22\u0e38\u0e48\u0e19\u0e41\u0e1a\u0e1a\u0e2b\u0e25\u0e32\u0e22\u0e02\u0e49\u0e2d\u0e15\u0e48\u0e2d<\/a>\u00a0(\u0e17\u0e38\u0e19\u0e2d\u0e38\u0e14\u0e2b\u0e19\u0e38\u0e19\u0e27\u0e34\u0e08\u0e31\u0e22\u0e21\u0e2b\u0e32\u0e27\u0e34\u0e17\u0e22\u0e32\u0e25\u0e31\u0e22\u0e40\u0e01\u0e29\u0e15\u0e23\u0e28\u0e32\u0e2a\u0e15\u0e23\u0e4c\u0e1b\u0e23\u0e30\u0e08\u0e4d\u0e32\u0e1b\u0e35 2560)<\/p>\n\n\n\n<p>IEEE Link <\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Fuzzy Supervisory Control and Implementation of a Flexible-Joint SCARA Robot\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/n05ebN_7sfk?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>Promtaeng, Y and K. Yaovaja. 2020.&nbsp;<a href=\"https:\/\/www.src.ku.ac.th\/conference\/Proceeding_2020.pdf\">Fuzzy Supervisory Control and Implementation of a Flexible-Joint SCARA Robot<\/a>. In Proceedings of 4th Annual Conference Kasetsart University Sriracha Campus. Online.<\/p>\n\n\n\n<figure class=\"wp-block-embed-facebook wp-block-embed is-type-rich is-provider-embed-handler\"><div class=\"wp-block-embed__wrapper\">\n<div class=\"fb-post\" data-href=\"https:\/\/www.facebook.com\/Dr.Kittipong\/posts\/4134885779886360\" data-width=\"552\" style=\"background-color: #fff; display: inline-block;\"><\/div>\n<\/div><\/figure>\n\n\n\n<figure class=\"wp-block-embed-facebook wp-block-embed is-type-rich is-provider-embed-handler\"><div class=\"wp-block-embed__wrapper\">\n<div class=\"fb-post\" data-href=\"https:\/\/www.facebook.com\/Dr.Kittipong\/posts\/3457709144270697\" data-width=\"552\" style=\"background-color: #fff; display: inline-block;\"><\/div>\n<\/div><\/figure>\n\n\n\n<p><a href=\"https:\/\/gulfthai.com\/?page_id=1201\">\u0e1c\u0e39\u0e49\u0e0a\u0e48\u0e27\u0e22\u0e28\u0e32\u0e2a\u0e15\u0e23\u0e32\u0e08\u0e32\u0e23\u0e22\u0e4c \u0e14\u0e23.\u0e01\u0e34\u0e15\u0e15\u0e34\u0e1e\u0e07\u0e29\u0e4c \u0e40\u0e22\u0e32\u0e27\u0e32\u0e08\u0e32<\/a><br>\u0e2b\u0e31\u0e27\u0e2b\u0e19\u0e49\u0e32<a href=\"https:\/\/gulfthai.com\/?page_id=1493\">\u0e01\u0e25\u0e38\u0e48\u0e21\u0e27\u0e34\u0e08\u0e31\u0e22\u0e27\u0e34\u0e17\u0e22\u0e32\u0e01\u0e32\u0e23\u0e2b\u0e38\u0e48\u0e19\u0e22\u0e19\u0e15\u0e4c\u0e41\u0e25\u0e30\u0e23\u0e30\u0e1a\u0e1a\u0e2d\u0e31\u0e15\u0e42\u0e19\u0e21\u0e31\u0e15\u0e34\u0e02\u0e31\u0e49\u0e19\u0e2a\u0e39\u0e07<\/a><br>\u0e41\u0e25\u0e30\u0e1c\u0e39\u0e49\u0e23\u0e31\u0e1a\u0e1c\u0e34\u0e14\u0e0a\u0e2d\u0e1a<a href=\"https:\/\/gulfthai.com\/?p=708\">\u0e2b\u0e25\u0e31\u0e01\u0e2a\u0e39\u0e15\u0e23\u0e2b\u0e38\u0e48\u0e19\u0e22\u0e19\u0e15\u0e4c\u0e41\u0e25\u0e30\u0e23\u0e30\u0e1a\u0e1a\u0e2d\u0e31\u0e15\u0e42\u0e19\u0e21\u0e31\u0e15\u0e34 (\u0e19\u0e32\u0e19\u0e32\u0e0a\u0e32\u0e15\u0e34)\u200b<\/a><br><a href=\"https:\/\/www.eng.src.ku.ac.th\/\">\u0e04\u0e13\u0e30\u0e27\u0e34\u0e28\u0e27\u0e01\u0e23\u0e23\u0e21\u0e28\u0e32\u0e2a\u0e15\u0e23\u0e4c\u0e28\u0e23\u0e35\u0e23\u0e32\u0e0a\u0e32 \u0e40\u0e01\u0e29\u0e15\u0e23\u0e28\u0e32\u0e2a\u0e15\u0e23\u0e4c \u0e27\u0e34\u0e17\u0e22\u0e32\u0e40\u0e02\u0e15\u0e28\u0e23\u0e35\u0e23\u0e32\u0e0a\u0e32<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u0e19\u0e33\u0e40\u0e2a\u0e19\u0e2d\u0e1a\u0e17\u0e04\u0e27\u0e32\u0e21\u0e27\u0e34\u0e08\u0e31\u0e22 SCARA Robot \u0e17\u0e35\u0e48\u0e21\u0e2b\u0e32\u0e27\u0e34\u0e17\u0e22\u0e32\u0e25\u0e31\u0e22\u0e40\u0e01\u0e29\u0e15\u0e23\u0e28\u0e32\u0e2a\u0e15\u0e23\u0e4c\u0e27\u0e34\u0e17\u0e22\u0e32\u0e40\u0e02\u0e15\u0e28\u0e23\u0e35\u0e23\u0e32\u0e0a\u0e32 \u0e01\u0e32\u0e23\u0e1b\u0e23\u0e30\u0e0a\u0e38\u0e21\u0e27\u0e34\u0e0a\u0e32\u0e01\u0e32\u0e23 \u0e04\u0e23\u0e31\u0e49\u0e07\u0e17\u0e35\u0e48 4 \u0e21\u0e2b\u0e32\u0e27\u0e34\u0e17\u0e22\u0e32\u0e25\u0e31\u0e22\u0e40\u0e01\u0e29\u0e15\u0e23\u0e28\u0e32\u0e2a\u0e15\u0e23\u0e4c \u0e27\u0e34\u0e17\u0e22\u0e32\u0e40\u0e02\u0e15\u0e28\u0e23\u0e35\u0e23\u0e32\u0e0a\u0e32 https:\/\/www.src.ku.ac.th\/conference\/ \u0e2a\u0e48\u0e07\u0e1a\u0e17\u0e04\u0e27\u0e32\u0e21\u0e27\u0e34\u0e08\u0e31\u0e22\u0e09\u0e1a\u0e31\u0e1a\u0e40\u0e15\u0e47\u0e21 (Full paper), \u0e15\u0e31\u0e49\u0e07\u0e41\u0e15\u0e48\u0e27\u0e31\u0e19\u0e19\u0e35\u0e49 &#8211; 30 \u0e01\u0e23\u0e01\u0e0e\u0e32\u0e04\u0e21 2563. \u0e1b\u0e23\u0e30\u0e01\u0e32\u0e28\u0e1c\u0e25\u0e1a\u0e17\u0e04\u0e27\u0e32\u0e21\u0e27\u0e34\u0e08\u0e31\u0e22, 3 \u0e2a\u0e34\u0e07\u0e2b\u0e32\u0e04\u0e21 2563 https:\/\/www.src.ku.ac.th\/gallery\/2563\/G413\/index.html Publication \u0e1c\u0e39\u0e49\u0e0a\u0e48\u0e27\u0e22\u0e28\u0e32\u0e2a\u0e15\u0e23\u0e32\u0e08\u0e32\u0e23\u0e22\u0e4c \u0e14\u0e23.\u0e01\u0e34\u0e15\u0e15\u0e34\u0e1e\u0e07\u0e29\u0e4c \u0e40\u0e22\u0e32\u0e27\u0e32\u0e08\u0e32 Abstract Non-linearity and flexibility of a joint of SCARA Robot are more problematic in controller and challenging with Fuzzy Supervisory controller. In this research, the prototype flexible-joint robot<br \/><a class=\"read-more\" href=\"https:\/\/gulfthai.com\/?p=3598\">Complete Reading<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[14,5,12,3],"tags":[],"class_list":["post-3598","post","type-post","status-publish","format-standard","hentry","category-control-embedded-system","category-engineering","category-research-innovation","category-robotics-automation"],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/gulfthai.com\/index.php?rest_route=\/wp\/v2\/posts\/3598","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/gulfthai.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/gulfthai.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/gulfthai.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/gulfthai.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=3598"}],"version-history":[{"count":10,"href":"https:\/\/gulfthai.com\/index.php?rest_route=\/wp\/v2\/posts\/3598\/revisions"}],"predecessor-version":[{"id":6803,"href":"https:\/\/gulfthai.com\/index.php?rest_route=\/wp\/v2\/posts\/3598\/revisions\/6803"}],"wp:attachment":[{"href":"https:\/\/gulfthai.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3598"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/gulfthai.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3598"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/gulfthai.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3598"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}