A fuzzy control system for multiple cooperating tentacle robots

A fuzzy controller is proposed to solve the local control for a multi - chain robotic system formed by tentacle manipulators grasping a common object with hard point contacts. The two - level hierarchical control is adopted. The upper level coordinator gathers all the necessary information To resolve the force distribution. Then, the lower- level local control problem is treated as a open chain redundant manipulator control problem. A closed loop control based on the inverse dynamic model and the DSMC procedure are proposed. The fuzzy rules are established. Simulation results are presented and discussed.