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Proceedings Paper

Adaptive control of redundant multilink robot using fuzzy logic
Author(s): X. Su; Sunanda Mitra
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Paper Abstract

A new approach to fuzzy distance and restriction measures is used to obtain the appropriate orientations of the links for avoiding obstacles in the robot trajectories. This approach eliminates the classical task of solving highly coupled, nonlinear equations describing the ill- posed inverse problems of multilink robot motion at a much less demanding computational time. Such clear advantage of fuzzy logic based adaptive controller are illustrated by simulation results of guidance of a multilink robot in target positioning and trajectories tracking. The simulation results involve a three-link robot arm with capability of moving from one position to any desired position and tracking a defined trajectories accurately. A modified fuzzy rule based distance measure allows the robot to follow trajectories within hitting the obstacles in the path. The simulation results indicate the advantage of fuzzy logic based adaptive controllers in multiple criteria decision-making tasks.

Paper Details

Date Published: 22 December 1993
PDF: 9 pages
Proc. SPIE 2061, Applications of Fuzzy Logic Technology, (22 December 1993); doi: 10.1117/12.165045
Show Author Affiliations
X. Su, Texas Tech Univ. (United States)
Sunanda Mitra, Texas Tech Univ. (United States)

Published in SPIE Proceedings Vol. 2061:
Applications of Fuzzy Logic Technology
Bruno Bosacchi; James C. Bezdek, Editor(s)

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