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Optimal control of robot manipulators using fuzzy interaction prediction system

Sadati, N ; Sharif University of Technology | 2006

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  1. Type of Document: Article
  2. DOI: 10.1109/ROBIO.2006.340077
  3. Publisher: 2006
  4. Abstract:
  5. In this paper, a new fuzzy coordination method based on Interaction Prediction Principle (IPP) is presented for the optimal control of robot manipulators. For this purpose, the robot manipulator is considered as a two-level large-scale system where in the first level, the overall system is decomposed into several subsystems. Each subsystem can include one or more consecutive links and joints. In the second level, a fuzzy interaction prediction system is introduced for coordination of the overall system where a critic vector is also used for evaluation of its performance. The simulation results of using the proposed novel approach ,for optimal control of robot manipulators, show its effectiveness and superiority in comparison with the centralized optimization methods. ©2006 IEEE
  6. Keywords:
  7. Automation ; Biomimetics ; Flexible manipulators ; Flow interactions ; Forecasting ; Fuzzy control ; Industrial robots ; Intersections ; Manipulators ; Military data processing ; Modular robots ; Robot applications ; Robotics ; Robots ; Centralized optimization ; Coordination methods ; Interaction prediction principle (IPP) ; International conferences ; Large-scale systems ; Nove l approach ; Optimal control (OC) ; Prediction systems ; Robot manipulators ; Second level ; Simulation results ; Fuzzy logic
  8. Source: 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, Kunming, 17 December 2006 through 20 December 2006 ; 2006 , Pages 1071-1076 ; 1424405718 (ISBN); 9781424405718 (ISBN)
  9. URL: https://ieeexplore.ieee.org/document/4142014