A fuzzy approximation to dexterity measures of mobile manipulators

被引：7
|
作者：
Synodinos, A. I. [1 ]
Moulianitis, V. C. [1 ,2 ]
Aspragathos, N. A. [1 ]
机构：
[1] Univ Patras, Dept Mech Engn & Aeronaut, Rion, Greece
[2] Univ Aegean, Dept Prod & Syst Design Engn, Ermoupolis, Greece
来源：
ADVANCED ROBOTICS | 2015年 / 29卷 / 12期
关键词：
mobile manipulation; dexterous manipulation; fuzzy approximation; MANIPULATABILITY;
D O I：
10.1080/01691864.2015.1015444
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, a fuzzy system is trained to approximate the manipulability index and the inverted condition number of a mobile manipulator. The kinematic model of a mobile platform with the attached manipulator is fused using twist theory and certain dexterity measures are examined throughout the configuration space. A Takagi-Sugeno-Kang fuzzy system is designed to approximate the dexterity measures and it is evaluated both for its error and its efficiency in computational cost. The proposed methodology is proved as a very efficient approximation that can be utilized in real-time motion planning algorithms without significantly adding computational cost to the controller.
引用
收藏
页码：753 / 769
页数：17
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