Title :
A fuzzy control system for multiple-cooperating tentacle robots
Author :
Ivanescu, M. ; Stoian, V.
Author_Institution :
Autom. & Comput. Dept., Craiova Univ., Romania
Abstract :
A fuzzy controller is proposed to solve the local control for a multi-chain robotic system formed by tentacle manipulators grasping a common object with hard point contacts. The two-level hierarchical control is adopted. The upper level coordinator gathers all the necessary information to resolve the force distribution. Then, the lower-level local control problem is treated as a open chain redundant manipulator control problem. A closed loop control based on the inverse dynamic model and the direct sliding mode control procedure are proposed. The fuzzy rules are established. Simulation results are presented and discussed
Keywords :
closed loop systems; cooperative systems; force control; fuzzy control; hierarchical systems; manipulator kinematics; variable structure systems; closed loop system; cooperative tentacle robots; direct sliding mode control; force distribution; fuzzy control; hierarchical control; inverse dynamic model; multiple chain robotic system; object grasping; redundant manipulator; Automatic control; Control systems; Fuzzy control; Inverse problems; Manipulator dynamics; Motion control; Open loop systems; Robot kinematics; Robotics and automation; Sliding mode control;
Conference_Titel :
Fuzzy Systems Proceedings, 1998. IEEE World Congress on Computational Intelligence., The 1998 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
0-7803-4863-X
DOI :
10.1109/FUZZY.1998.687503
