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- Title
Fuzzy weighted subtask controller for redundant manipulator.
- Authors
Yoo, Young jun; Jung, Dae sung; Jang, Yu jin; Won, Sang chul
- Abstract
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.
- Subjects
ROBOT control systems; REDUNDANT manipulators; FUZZY control systems; PID controllers; ROBOT kinematics; DEGREES of freedom
- Publication
Robotica, 2015, Vol 33, Issue 2, p295
- ISSN
0263-5747
- Publication type
Article
- DOI
10.1017/S0263574714000344