Adaptive control of redundant multilink robot using fuzzy logic

X. Su; Sunanda Mitra

doi:10.1117/12.165045

22 December 1993 Adaptive control of redundant multilink robot using fuzzy logic

X. Su, Sunanda Mitra

Proceedings Volume 2061, Applications of Fuzzy Logic Technology; (1993) https://doi.org/10.1117/12.165045
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

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.

Citation Download Citation

X. Su and Sunanda Mitra "Adaptive control of redundant multilink robot using fuzzy logic", Proc. SPIE 2061, Applications of Fuzzy Logic Technology, (22 December 1993); https://doi.org/10.1117/12.165045

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