Name
Abstract | ||
|---|---|---|
In this paper, a fuzzy system is trained to approximate the manipulability index and the inverted condition number of a mobile manipulator. The kinematic model of a mobile platform with the attached manipulator is fused using twist theory and certain dexterity measures are examined throughout the configuration space. A Takagi-Sugeno-Kang fuzzy system is designed to approximate the dexterity measures and it is evaluated both for its error and its efficiency in computational cost. The proposed methodology is proved as a very efficient approximation that can be utilized in real-time motion planning algorithms without significantly adding computational cost to the controller. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1080/01691864.2015.1015444 | ADVANCED ROBOTICS |
Keywords | DocType | Volume |
mobile manipulation,dexterous manipulation,fuzzy approximation | Journal | 29 |
Issue | ISSN | Citations |
12 | 0169-1864 | 1 |
PageRank | References | Authors |
0.37 | 13 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Aris I. Synodinos | 1 | 1 | 0.37 |
| Vassilis C. Moulianitis | 2 | 5 | 2.20 |
| Nikos A. Aspragathos | 3 | 243 | 37.69 |