Abstract
A robust control system 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 distribution force. Then, the lower-level local control problem is treated as an open-chain redundant manipulator control problem. The stability and robustness of a class of the fuzzy logic control (FLC) are investigated and a robust FLC is proposed with uncertainties of the load. The fuzzy rules are established. Simulation results are presented and discussed.
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© 1999 Springer-Verlag Berlin Heidelberg
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Ivanescu, M., Stoian, V. (1999). Fuzzy Controllers by Unconventional Technologies for Tentacle Arms. In: Reusch, B. (eds) Computational Intelligence. Fuzzy Days 1999. Lecture Notes in Computer Science, vol 1625. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-48774-3_28
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DOI: https://doi.org/10.1007/3-540-48774-3_28
Publisher Name: Springer, Berlin, Heidelberg
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