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Cited 3 time in webofscience Cited 5 time in scopus
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Fuzzy weighted subtask controller for redundant manipulator SCIE SCOPUS

Title
Fuzzy weighted subtask controller for redundant manipulator
Authors
Yoo, YJJung, DSJang, YJWon, SC
Date Issued
2015-02
Publisher
Cambridge University Press
Abstract
We propose a fuzzy weighted subtask controller for a redundant robot manipulator. To expand the feasibility of the inverse kinematic solution, we introduce a weighted pseudo-inverse that changes the null-space of the Jacobian. The weights of elements in the pseudo-inverse are obtained using fuzzy rules that are related to the null-space velocity tracking error. With the pseudo-inverse, we develop a task space controller to track a desired task space trajectory and subtask control input. We propose a weighted subtask controller for multiple subtasks. The results of a simulation and experiment using a seven-degree-of-freedom whole arm manipulator robot show the effectiveness of the proposed controller with multiple subtasks.
URI
https://oasis.postech.ac.kr/handle/2014.oak/27216
DOI
10.1017/S0263574714000344
ISSN
0263-5747
Article Type
Article
Citation
ROBOTICA, vol. 33, no. 2, page. 295 - 313, 2015-02
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