The objective of this paper is to design a fuzzy controller for a four-link robot to stand up from horizontal surface. There are a structural mechanism, a PC, a tilt sensor and three stepping motors in this robot system. First, design the standing behavior of this robot is assigned by a developed software program in a PC. Then, the robot links are driven by the corresponding motors which execute the control commands of the corresponding controllers. At the same time, the center of gravity (COG) of this robot is calculated by the central computer (PC). If the COG is fallen in the safety area of the robot bottom surface, it will stand up successfully. Otherwise, the robot will fall down easily. In the standing processes, the tilt sensor is applied to detect the horizontal angle of the robot bottom surface. Finally, a fuzzy controller is developed to help this robot to stand up successfully based on the position and postion error of its COG. In the experiment, a desired standing behavior of this robot is assigned first. Then the control commands of the central computer (PC) are sent to the corresponding motors to drive the robot link. After that, the tilt sensors will feedback the horizontal angle of this robot to the central computer. Finally, the central computer will modify the control commands to the corresponding motors again. The experiment will be ended until the robot stand up successfully.
第八屆國際自動化科技研討會論文集=Proceedings of the Eighth International Conference on Automation Technology：Advanced Automation for Micro/Nano Technology，1頁