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Fuzzy weighted subtask controller for redundant manipulator

Published online by Cambridge University Press:  28 February 2014

Young jun Yoo ,
Dae sung Jung ,
Yu jin Jang  and
Sang chul Won
Young jun Yoo
Affiliation:
Department of Electronic and Electrical Engineering, POSTECH, Pohang, Gyeongbuk, Republic of Korea
Dae sung Jung
Affiliation:
Department of Electronic and Electrical Engineering, POSTECH, Pohang, Gyeongbuk, Republic of Korea
Yu jin Jang
Affiliation:
Department of Information and Communication Engineering, Dongguk University, Gyeong Ju, Gyeongsangbuk-Do, Republic of Korea
Sang chul Won*
Affiliation:
Department of Electronic and Electrical Engineering, POSTECH, Pohang, Gyeongbuk, Republic of Korea
*
*Corresponding author. E-mail: won@postech.ac.kr
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Summary

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.

Keywords

Redundant manipulatorsControl of robotic systemsSubtask controlSelf-motionFuzzy weighted pseudo-inverse
Type
Articles
Information
Robotica , Volume 33 , Issue 2 , February 2015 , pp. 295 - 313
Copyright
Copyright © Cambridge University Press 2014 

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