Smooth velocity tracking and kinematic-based fuzzy control of carrying mobile robots

Mobile robots are affected by forces imposed on them because of moving. These forces significantly affect the carrying efficiency of robots. In this study, the velocity profile is designed such that no extremum emerges on the rising and falling phases of the graph while a constant velocity is preserved between these parts. Decreasing the motion forces on the robot is the main goal of this study. In the second part of this study, a kinematic-based approach is presented to design fuzzy control rules. The significance of this approach is that unlike the methods proposed in the literature, in this method, the rate change of posture error is not required to enter into the fuzzy logic to provide the velocity tracking. This considerably reduces the computational effort with a decrease in the number of rules. In this method, proper indicators are defined as weights of the input and output linguistic functions of the fuzzy logic. Then, the inverse kinematics is employed to compute the proper weights of inputs based on each possible combination of outputs weights.