A fuzzy control system for multiple cooperating tentacle robots

被引：0
|
作者：
Ivanescu, M [1 ]
Stoian, V [1 ]
机构：
[1] Univ Craiova, Automat & Comp Dept, R-1100 Craiova, Romania
来源：
1998 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS AT THE IEEE WORLD CONGRESS ON COMPUTATIONAL INTELLIGENCE - PROCEEDINGS, VOL 1-2 | 1998年
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
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.
引用
收藏
页码：307 / 312
页数：6
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