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Control of robotic manipulator using fuzzy logic

Control of robotic manipulator using fuzzy logic

引用

IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： K.K. Kumbla M. Jamshidi CAD Laboratory for Intelligent and Robotics Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

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.< >

关键词： Robot control Fuzzy logic Fuzzy control Manipulator dynamics Robot kinematics PD control intelligent robots Nonlinear equations Control systems Distributed control

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Embedded fuzzy logic-based wall-following behavior for mobile robot navigation

Embedded fuzzy logic-based wall-following behavior for mobil...

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： E. Tunstel M. Jamshidi CAD Laboratory for Robotics and Intelligent Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

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... 详细信息

关键词： Fuzzy logic Mobile robots Navigation Fuzzy control intelligent robots Embedded system Robot sensing systems Control systems Assembly Fuzzy systems

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Fuzzy behavior fusion for reactive control of an autonomous mobile robot: MARGE

Fuzzy behavior fusion for reactive control of an autonomous ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： S.G. Goodridge R.C. Luo Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A distributed heterogeneous network of fuzzy control agents has been developed for reactive behavior-based control of an autonomous mobile robot This methodology allows the authors' vehicle, MARGE, to perform realistic tasks in unstructured environments. Control actions for the robot are generated by a colony of independent agents that compete and cooperate to determine the emergent motion of the vehicle. Fuzzy rules are used to implement a diverse array of real-time functions within one simple development environment. The authors' multi-layer approach differs from other methods that perform the fuzzy inference mapping in one step. Real-time control without special hardware is possible by using a singleton centroid calculation and by breaking complex behaviors down into simple modules.< >

关键词： Fuzzy control Mobile robots Fuzzy sets Robot sensing systems Error correction intelligent robots Vehicles Navigation Programming profession Fuzzy logic

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T-vectors make autonomous mobile robot motion planning and self-referencing more efficient

T-vectors make autonomous mobile robot motion planning and s...

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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： J.A. Janet R.C. Luo M.G. Kay Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A motion planning and self-referencing approach has been developed, simulated and applied to an actual robot. Although there are several novelties to these approaches, the fact that both are based on traversability vectors (t-vectors) is one aspect of this research that is unique. Through their application it has been found that t-vectors enhance the detection of path obstructions and geometric beacons and expedite the identification of features that are visible (or hearable) to sensors in both static and dynamic environments. T-vectors also reduce the data size and complexity of standard V-graphs and variations thereof. This paper provides the t-vector models step-by-step so that the reader will be able to apply them to mobile robot motion planning and self-referencing.< >

关键词： Mobile robots Motion planning intelligent robots Vehicle dynamics Path planning Machine intelligence Computational modeling computer simulation Robot sensing systems Sensor phenomena and characterization

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Autonomous mobile robot motion planning enhanced with extended configuration-space and half-planes

Autonomous mobile robot motion planning enhanced with extend...

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International Conference on Industrial Electronics, Control and Instrumentation

作者： J.A. Janet R.C. Luo M.G. Kay Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

It is commonly argued that C-space buffering is too computationally expensive, consumes too much free space, keeps the robot too close to objects, seals off marginally traversable regions and does not allow for curved path segments. However, the research described in this paper uses half-planes and doors to extend C-space so that mobile robot global motion planning is not only safe and fluid, but also unhindered by tight passageways. Further, it is shown that free space consumption is limited to only what the robot needs to circumnavigate known obstacles.< >

关键词： Mobile robots Motion planning Orbital robotics intelligent robots Computational intelligence Machine intelligence Seals Acceleration Object detection Safety

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Stability of switched and hybrid systems

Stability of switched and hybrid systems

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IEEE Conference on Decision and Control

作者： M.S. Branicky Laboratory for Information and Decision Systems Department of Electrical Engineering and Computer Science Center for Intelligent Control Systems Massachusetts Institute of Technology USA

This paper outlines some preliminary work on the stability analysis of switched and hybrid systems. The hybrid systems considered are those that combine continuous dynamics, represented by differential or difference equations, with finite dynamics usually thought of as being a finite automaton. Here, we concentrate on the continuous dynamics and model the finite dynamics as switching among finitely many continuous systems. We introduce multiple Lyapunov functions as a tool for analyzing Lyapunov stability of such "switched systems". We use iterated function systems theory as a tool for Lagrange stability. We also discuss the case where the switched systems are indexed by an arbitrary compact set.< >

关键词： Stability Switched systems Difference equations Differential equations Automata Lyapunov method intelligent control Lagrangian functions Control systems Laboratories

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Position and force control of a multifingered hand: a comparison of fuzzy logic to traditional PID control

Position and force control of a multifingered hand: a compar...

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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： D. Hristu J. Babb H. Singh S. Gottschlich NYS Center for Advanced Technology in Automation and Robotics and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

In this paper we will discuss the control of a five-fingered, 18 degree of freedom, tendon driven robot hand known as the Atlas Anthrobot. Developing a traditional PID controller for this hand has proved difficult because the behavior of the tendon drive system produces is highly nonlinear. This nonlinear nature of the system however does suggest it as a candidate for fuzzy control. Along these lines we have developed a PID control system and a fuzzy control system for the hand which are both capable of simultaneously controlling the position of the fingertips and the amount of force exerted through a contact point on the fingertip. In this paper we will present a comparison between the two systems in order to generally make statements about the appropriateness of each controller for controlling complicated tendon driven devices such as our robot hand.< >

关键词： Force control Fuzzy logic Three-term control Control systems Robots Fingers Tendons Fuzzy control robotics and automation Automatic control

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A tactile sensing system for dexterous manipulation

A tactile sensing system for dexterous manipulation

引用

IEEE International Workshop on intelligent Robots and systems (IROS)

作者： B.L. Gery S.N. Gottschlich New York State Center for Advanced Technology in Automation and Robotics and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

One factor that limits the range of tasks that robots can perform robustly is the scarcity of useful sensors available to provide feedback to the robot control system. While much progress has been made with vision sensors and force/torque sensors, tactile sensing systems have fallen behind, and so general-purpose tactile sensing systems are not commercially available. The aim of this work is therefore to produce a tactile sensing system that could be manufactured inexpensively, could be used on a wide variety of robotic systems, and would provide the kind of output typically required in dexterous manipulation applications. Such a tactile sensing system will be presented in this paper. The tactile transducers used in this system are based on semiconductive ink technology that allows transducers of any size, shape, and resistance range to be produced merely by altering the ink printing process and substrate geometry. Each sensor outputs three pieces of information that are useful in robotic manipulation-two parameters indicating the location of a contact point on the transducer and one parameter specifying the amount of force being exerted at the contact point. So that the sensing system could support transducers of different shapes and sizes, the analog interface circuitry of this system has been designed to be fully programmable, and also includes circuitry to enable self-calibration with appropriate software.< >

关键词： Transducers Robot sensing systems Sensor systems Tactile sensors Force sensors Ink Shape Circuits Robust control Feedback

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Variably-autonomous manipulation

Variably-autonomous manipulation

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： L. Singh A. Silverthorne S. Gottschlich H. Stephanou New York State Center for Advanced Technology in Robotics and Automation Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

There are numerous applications in which robots are needed to assist rather than replace human operators. These applications typically involve either work in a dangerous environment or performing tasks that are physically impossible for humans to accomplish by themselves. Robots used in this mode do not need to be autonomous because they can essentially be controlled by the operator. Nonetheless, it is difficult for an operator to flawlessly control a robot with a large number of degrees of freedom. Therefore, an intelligent control system is needed to correct and improve the operator's input to the robot. In this paper the authors discuss a central component in this control system known as the variably-autonomous trajectory generator (VATG). The VATG combines input from the operator with input from one or more autonomous control modules (CM) to generate the robot trajectory. The amount of impact the autonomous CMs will have on the overall trajectory will depend on a number of factors such as the task being performed and the sensing modalities available, hence the authors refer to this type of control as being variably-autonomous.< >

关键词： Robot sensing systems robotics and automation Humans Control systems Application software Wrist Tactile sensors Force sensors Grasping systems engineering and theory

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Nonholonomic path planning with inequality constraints

Nonholonomic path planning with inequality constraints

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IEEE International Conference on robotics and Automation (ICRA)

作者： A.W. Divelbiss J. Wen New York State Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper presents an algorithm for finding a kinematically feasible path which satisfies a given set of nonholonomic constraints while enforcing both equality and inequality constraints on the configuration vector. The path planning problem is transformed from a finite time nonlinear control problem into a static root finding problem which is iteratively solved. By using an exterior penalty function method, the constrained root finding problem is converted to an unconstrained problem. Convergence of the algorithm depends upon a certain gradient operator being full rank. It has recently been shown that, in the absence of any configuration inequality constraints, the full rank condition is generic. In this paper, we show the full rank condition for a special inequality constraint case. An experiment in which the algorithm is applied to an actual double tractor-trailer vehicle is presented.< >

关键词： Path planning Control systems Controllability Motion control Velocity control Nonlinear control systems robotics and automation systems engineering and theory Iterative algorithms Convergence

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