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Fuzzy Model for Capturing Moving Object with Pneumatic Mechanisms

The paper considers the way for controlling a grip mechanism. A program code for controlling the movement of mechatronic complex mechanisms is presented. The software is written in the LAD programming language used for programming logical controllers Siemens s7-1200. The software model is written in the environment TiaPortal v14.1. An algorithm for calculating the time delay based on fuzzy logic has been developed and is presented. This algorithm allows increasing the productivity and reducing the energy costs of the system. The results of the experiment showing the advantages of the proposed algorithm are given.