Title :
Identification of Rigid-Body Dynamics of Robotic Manipulators Using Type-2 Fuzzy Logic Filter
Author :
Ren, Qun ; Qin, Zhongkai ; Baron, Luc ; Birglen, Lionel ; Balazinski, Marek
Author_Institution :
Ecole Polytech de Montreal, Montreal
Abstract :
In this paper, a subtractive clustering based type-2 Takagi-Sugeno-Kang (TSK) fuzzy logic process is used as a fuzzy filter to treat acceleration data for the purpose of obtaining the rigid-body dynamical parameters of robotic manipulators. Experimental results show the effectiveness of this method, which not only provides good accuracy of prediction of the rigid-body dynamical parameters of robotic manipulators, but also assesses the uncertainties associated with the modeling process and with the outcome of the model itself. A comparison of the results from the type-2 fuzzy logic filtering algorithm with its type-1 counterpart is presented and limitation of those methods is discussed.
Keywords :
filtering theory; fuzzy logic; manipulator dynamics; robotic manipulator rigid-body dynamics; type-2 Takagi-Sugeno-Kang fuzzy logic filtering algorithm; Acceleration; Accuracy; Filtering algorithms; Filters; Fuzzy logic; Manipulator dynamics; Predictive models; Robots; Takagi-Sugeno-Kang model; Uncertainty;
Conference_Titel :
Fuzzy Information Processing Society, 2007. NAFIPS '07. Annual Meeting of the North American
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-1213-7
Electronic_ISBN :
1-4244-1214-5
DOI :
10.1109/NAFIPS.2007.383870