Title :
Emulation of spline curves and its applications in robot motion control
Author :
Zhang, Jianwei ; Raczkowsky, Jörg ; Herp, Andreas
Author_Institution :
Inst. for Real-Time Comput. Syst. & Robotics, Karlsruhe Univ., Germany
Abstract :
The paper presents the design of a fuzzy controller to emulate spline curves for generating smooth motion trajectories. Spline models and a fuzzy control model are compared. Based on this comparison, a fuzzy control model is devised to make the robot continuously pass through the planned subgoals guiding the robot motion. By analyzing primitive movements along subgoals, the rule base can be developed. System structures are proposed for applying this fuzzy controller in the hierarchical motion control of robot systems. Its applications in robot arms and mobile robots are also presented
Keywords :
fuzzy control; intelligent control; mobile robots; motion control; robot kinematics; splines (mathematics); fuzzy control model; fuzzy controller; hierarchical motion control; mobile robots; planned subgoals; primitive movements; robot arms; robot motion control; rule base; smooth motion trajectories; spline curve emulation; spline models; system structures; Control systems; Emulation; Fuzzy control; Fuzzy systems; Intelligent robots; Motion control; Robot control; Robot motion; Robot sensing systems; Spline;
Conference_Titel :
Fuzzy Systems, 1994. IEEE World Congress on Computational Intelligence., Proceedings of the Third IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-1896-X
DOI :
10.1109/FUZZY.1994.343843
