This paper describes the implementation of hierarchical control on a robotic manipulator using fuzzy logic. A decentralized control approach is implemented, i.e., individual controllers control the two links of the ro...
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This paper describes the implementation of hierarchical control on a robotic manipulator using fuzzy logic. A decentralized control approach is implemented, i.e., individual controllers control the two links of the robot. The kinematic aspect of the control is treated as the supervisory mode at a higher level and the joint control is treated as the lower level. Fuzzy logic based rules determine the inverse kinematic mapping which maps the Cartesian coordinates to the individual joint angles. This scheme is implemented using Togai Infra Logic software and the entire simulation software is implemented using C language. The results of the simulation are discussed. This experiment is a proof of principle to show that the fuzzy controller can be used to map the nonlinear mapping which can be implemented to the more complex problem of inverse kinematics of higher degree of freedom robots. A fuzzy PD controller is implemented on a Rhino robot and the performance is compared with a traditional PD controller.< >
The synthesis of a fuzzy logic controller that provides a small mobile robot with the capability to exhibit a wall-following behavior is described. A general account of the procedure is given with emphasis placed on t...
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The synthesis of a fuzzy logic controller that provides a small mobile robot with the capability to exhibit a wall-following behavior is described. A general account of the procedure is given with emphasis placed on the embedded realization of the fuzzy controller and its feasibility using commercially available tools.< >
This survey discusses current approaches to the robust control of the motion of rigid robots and summarizes the available literature on the subject. The five major designs discussed are the “Linear-Multivariable” ap...
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Modern control theory-based algorithms are applied to different models of the reactor core and primary heat transport loop subsystem of a liquid metal cooled nuclear reactor (LMR) module. A nonlinear and a linear mode...
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Modern control theory-based algorithms are applied to different models of the reactor core and primary heat transport loop subsystem of a liquid metal cooled nuclear reactor (LMR) module. A nonlinear and a linear model of the module subsystem are briefly presented. The concepts and control approaches corresponding to the theory of linear quadratic optimal control, model reference adaptive control, and input- output linearizing control are introduced and applied to the reactor under study. Operating and simulation conditions, as well as interpretation of results, are given for every case.
Sensing is one of the most essential aspects of any robotic application, be it manufacturing or any automated process. Robotic sensors can be divided into two classes of " internal " and " external &quo...
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Sensing is one of the most essential aspects of any robotic application, be it manufacturing or any automated process. Robotic sensors can be divided into two classes of " internal " and " external ". Examples of the first group are position or velocity, while the second group includes proximity, touch, or vision to name a few. The other important problem in manufacturing is interfacing with the environment within a cell. The object of this tutorial paper is to survey the two issues of "sensing" and "interfacing" in robotics and manufacturing.
In this survey, we discuss current approaches to the robust control of the motion of robots and summarize the available literature on the subject. The three major designs discussed are the "Linear-Multivariable&q...
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In this survey, we discuss current approaches to the robust control of the motion of robots and summarize the available literature on the subject. The three major designs discussed are the "Linear-Multivariable" Approach, the "Passivity" approach and the "Variable-Structure" approach. The survey is limited to rigid robots and nonadaptive controllers.
In this paper, a dynamic model of a robot manipulator is first derived based on the Euler-Lagrange equation and a state-space representation is derived for it. A number of non-adaptive robot control schemes are then r...
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In this paper, a dynamic model of a robot manipulator is first derived based on the Euler-Lagrange equation and a state-space representation is derived for it. A number of non-adaptive robot control schemes are then reviewed. A robust decentralized control is then proposed for a 5-axis robot manipulator. Numerical simulation results are presented to verify the theory.
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