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Proceedings Paper

Fuzzy logic approach to enhance the performance of remote manipulator systems
Author(s): Robert N. Lea; Joe A. Mica; Yashvant Jani; Edgar Dohmann
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Paper Abstract

In this paper we extend previous work done at the NASA Goddard Space Flight Center on the development of a fuzzy logic controller to generate individual joint rate commands to the robotic arm in response to human input, via remote manipulation of translational and rotational hand controllers. In this phase of the study we have utilized the Goddard Space FLight Center Remote Manipulator hardware/software system in which the fuzzy logic controller has currently been implemented, and have used this system for tuning the controller for near optimal response. Performance results from the system studies are presented.

Paper Details

Date Published: 13 June 1995
PDF: 10 pages
Proc. SPIE 2493, Applications of Fuzzy Logic Technology II, (13 June 1995); doi: 10.1117/12.211790
Show Author Affiliations
Robert N. Lea, LinCom Corp. (United States)
Joe A. Mica, NASA Goddard Space Flight Ctr. (United States)
Yashvant Jani, Hitachi America, Ltd. (United States)
Edgar Dohmann, Ortech Engineering Inc. (United States)

Published in SPIE Proceedings Vol. 2493:
Applications of Fuzzy Logic Technology II
Bruno Bosacchi; James C. Bezdek, Editor(s)

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