Fuzzy weighted subtask controller for redundant manipulator
We propose a fuzzy weighted subtask controller for a redundant robot manipulator. To expand the feasibility of the inverse kinematic solution, we introduce a weighted pseudo-inverse that changes the null-space of the Jacobian. The weights of elements in the pseudo-inverse are obtained using fuzzy ru...
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| Veröffentlicht in: | Robotica 2015-02, Vol.33 (2), p.295-313 |
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| container_end_page | 313 |
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| container_issue | 2 |
| container_start_page | 295 |
| container_title | Robotica |
| container_volume | 33 |
| creator | Yoo, Young jun Jung, Dae sung Jang, Yu jin Won, Sang chul |
| description | We propose a fuzzy weighted subtask controller for a redundant robot manipulator. To expand the feasibility of the inverse kinematic solution, we introduce a weighted pseudo-inverse that changes the null-space of the Jacobian. The weights of elements in the pseudo-inverse are obtained using fuzzy rules that are related to the null-space velocity tracking error. With the pseudo-inverse, we develop a task space controller to track a desired task space trajectory and subtask control input. We propose a weighted subtask controller for multiple subtasks. The results of a simulation and experiment using a seven-degree-of-freedom whole arm manipulator robot show the effectiveness of the proposed controller with multiple subtasks. |
| doi_str_mv | 10.1017/S0263574714000344 |
| format | Article |
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| identifier | ISSN: 0263-5747 |
| ispartof | Robotica, 2015-02, Vol.33 (2), p.295-313 |
| issn | 0263-5747 1469-8668 |
| language | eng |
| recordid | cdi_proquest_miscellaneous_1660062410 |
| source | Cambridge University Press Journals Complete |
| subjects | Fuzzy Fuzzy logic Fuzzy set theory Manipulators Redundant Robot arms Robots Task space |
| title | Fuzzy weighted subtask controller for redundant manipulator |
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