Optimization Modeling Parameters for Industrial AMR Slippage Using ANFIS System in Dynamic Environment

Slippage problem is one of the most concern problems in a Wheel-Mobile Robot when it is operated under the dynamic situation. This paper proposes the causes of slippage problems occurring by AMR’s operation in various conditions and predicts the slippage distances using ANFIS methodology. Four main factors are concerned and defined as the membership function; speed of motion, directions and conditions of movement, friction and pay loads. ANFIS method is adopted to fit with slippage of the AMR working in the environment such as the shop floor factory. The model was performed by MATLAB with several rules of thumb which were captured from the robotic experts together with documented texts. The system was trained and carried out the fuzzy inference reasoning. The case study was tested in various conditions. It was found that the slippage will be less when the load is less whereas the slippage is high when the play load is heavy. The further study is to simulate the dynamic control using Simulink and compared to the real experiment in the laboratory.