The document is a seminar paper by Satyendra Kumar on fuzzy logic, particularly in modeling the inverse kinematics of a two-joint robotic arm using MATLAB. It covers the history, principles, and applications of fuzzy logic, providing a detailed overview of how it functions through if-then rules and fuzzification. Additionally, the paper outlines future work and potential applications of fuzzy logic in various fields, such as robotics and control systems.

1. Fuzzy Logic using MATLAB
A SeminarPaper Report
by
SATYENDRA KUMAR J
M. Tech. (Mechatronics) 2nd semester Student
(Roll No. 162072901)
Under the supervision of
T. ESWAR RAO
ASSOCIATE PROFESSOR
DEPARTMENT OF MECHANICAL ENGINEERING
K L University, Green Fields,
Vaddeswaram- 522502, Guntur(Dist), Andhra Pradesh, India.
November- 2017
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2. Fuzzy Logic Using MATLAB
Satyendra Kumar Jaladi
2nd Semester student
Mechatronics Engineering

3. Overview
Brief History
How it Works
Basics of Fuzzy Logic
Rules
Step by Step Approach of Fuzzy Logic
Fuzzification
Rule Evaluation
Defuzzification
Examples
Modeling Inverse Kinematics in a 2DOF Robotic
Arm
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4. Overview
Mamdani FIS editor
Simple GUI
Other applications of Fuzzy Logic
Mamdani Fuzzy Inference System(FIS)editor example
Conclusion
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5. Brief History
 Fuzzy logic can be defined as a superset of
conventional (Boolean) logic that has been extended
to handle the concept of partial truth - truth values
between “completely true” and “completely false”
 Brought up by Lofti Zedah in the 1960s
 Professor at University of California at Beckley
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6. Introduction
 Fuzzy – “not clear, distinct, or precise; blurred”
 fuzzy logic variables may have a truth value that
ranges in degree between 0 and 1.
 Example Cold = 0 ,Hot = 1 then fuzzy logic uses truth
as mathematical model vagueness
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7. 1/9/2018 Department of Mechanical Engineering
 Lofti Zadeh(Fuzzy Logic Founder)
 Fuzzy logic began with the 1965 proposal of fuzzy set
theory by Lotfi Zadeh Fuzzy logic has been applied to
many fields, from control theory to artificial
intelligence.
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9. Inverse Kinematics 2DOF
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10. How it works
 Fuzzy Logic (Rules) operates similar to humans
 Humans base their decisions on conditions.
 Fuzzy Logic operates on a bunch of IF-THEN statements
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11. Examples
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12. IF – Then Rules
 IF temperature IS very cold THEN fan_speed is
stopped.
 IF temperature IS cold THEN fan_speed is slow.
 IF temperature IS warm THEN fan_speed is
moderate.
 IF temperature IS hot THEN fan_speed is high.
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13. Examples contd.
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14. Mamdani Example
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15. Rule editor
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16. Rules Viewer
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17. Surface Viewer
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18. Modeling IK in a 2DOF Robotic Arm
 Task
– use a fuzzy system to model the inverse
kinematics in a two-joint robotic arm.
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19. Modeling IK in a 2DOF Robotic Arm
 The input and output relationships of the
variables of the fuzzy system are then
determined.
– Inputs:
• A desired location for the tip of the robotic
arm
• Lengths of Link 1 and Link2.
– Outputs:
• Angles of the joints (theta1 ,theta2)
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20.  Use membership functions to graphically
describe the situation (Fuzzification)
 The output which are joint angles theta1
and theta2 values.
 These different values of output of the
platform are defined by specifying the
membership functions for the fuzzy-sets
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21. DESIGN STRATEGIES
design
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22. DESIGN STRATEGIES
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23. GUIDE
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24.  Code behind GUIDE (CALCULATOR)
 total = str2double(get(handles.edit1,'string')) + str2double(get(handles.edit2,'string'));
 set(handles.text1,'string',num2str(total));
 How to use handles?
 [Handles.controlname]
Eg: handles.edit1 , handles.edit2
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25. Other Applications
 Coal Power Plant
 Refuse Incineration
Plant
 Water Treatment
Systems
 AC Induction Motor
 Fraud Detection
 Customer Targeting
 Quality Control
 Speech Recognition
 Nuclear Fusion
 Truck Speed Limiter
 Sonar Systems
 Toasters
 Photocopiers
 Creditworthiness
Assessment
 Stock Prognosis
 Mortgage Application
 Hi-Fi Systems
 Humidifiers
 Domestic Goods -
Washing
Machines/Dryers
 Microwave Ovens
 Consumer Electronics –
Television
 Still and Video Cameras
- Auto focus, Exposure
and Anti-Shake
 Vacuum Cleaners
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26. Future scope
• Work on Forward and Inverse kinematics
for 3 DOF manipulator using ANFIS.
• Implement Fuzzy Logic controller and port
it on a microcontroller and test it in real
working environment.
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27. • Calculator Code files
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28. Questions??