A fuzzy control system for multiple-cooperating tentacle robots

Author

Ivanescu, M. ; Stoian, V.

Author_Institution

Autom. & Comput. Dept., Craiova Univ., Romania

Volume

1

fYear

1998

fDate

4-9 May 1998

Firstpage

307

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems Proceedings, 1998. IEEE World Congress on Computational Intelligence., The 1998 IEEE International Conference on

Conference_Location

Anchorage, AK

ISSN

1098-7584

Print_ISBN

0-7803-4863-X

Type

conf

DOI

10.1109/FUZZY.1998.687503

Filename

687503