Name
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. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1017/S0263574714000344 | ROBOTICA |
Keywords | DocType | Volume |
Redundant manipulators,Control of robotic systems,Subtask control,Self-motion,Fuzzy weighted pseudo-inverse | Journal | 33 |
Issue | ISSN | Citations |
2 | 0263-5747 | 0 |
PageRank | References | Authors |
0.34 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Y Yoo | 1 | 84 | 24.92 |
| Daesung Jung | 2 | 1 | 1.39 |
| Yu Jin Jang | 3 | 4 | 1.50 |
| Sangchul Won | 4 | 235 | 19.62 |