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Application of fuzzy logic for the solution of inverse kinematics and hierarchical controls of robotic manipulators

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Date Issued:
1997
Summary:
In this thesis work, hierarchical control techniques will be used for controlling a robotic manipulator. The hierarchical control will be implemented with fuzzy logic to improve the robustness and reduce the run time computational requirements. Hierarchical control will consist on solving the inverse kinematic equations using fuzzy logic to direct each individual joint. A commercial Micro-robot with three degrees of freedom will be used to evaluate this methodology. A decentralized fuzzy controller will be used for each joint, with a Fuzzy Associative Memories (FAM) performing the inverse kinematic mapping in a supervisory mode. The FAM determines the inverse kinematic mapping which maps the desired Cartesian coordinates to the individual joint angles. The individual fuzzy controller for each joint will generate the required control signal to a DC motor to move the associated link to the new position. The proposed hierarchical fuzzy controller will be compared to a conventional PD controller.
Title: Application of fuzzy logic for the solution of inverse kinematics and hierarchical controls of robotic manipulators.
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Name(s): Howard, David William.
Florida Atlantic University, Degree grantor
Zilouchian, Ali, Thesis advisor
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Issuance: monographic
Date Issued: 1997
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 108 p.
Language(s): English
Summary: In this thesis work, hierarchical control techniques will be used for controlling a robotic manipulator. The hierarchical control will be implemented with fuzzy logic to improve the robustness and reduce the run time computational requirements. Hierarchical control will consist on solving the inverse kinematic equations using fuzzy logic to direct each individual joint. A commercial Micro-robot with three degrees of freedom will be used to evaluate this methodology. A decentralized fuzzy controller will be used for each joint, with a Fuzzy Associative Memories (FAM) performing the inverse kinematic mapping in a supervisory mode. The FAM determines the inverse kinematic mapping which maps the desired Cartesian coordinates to the individual joint angles. The individual fuzzy controller for each joint will generate the required control signal to a DC motor to move the associated link to the new position. The proposed hierarchical fuzzy controller will be compared to a conventional PD controller.
Identifier: 9780591334005 (isbn), 15407 (digitool), FADT15407 (IID), fau:12174 (fedora)
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): College of Engineering and Computer Science
Thesis (M.S.)--Florida Atlantic University, 1997.
Subject(s): Robotics
Fuzzy logic
Robots--Kinematics
Held by: Florida Atlantic University Libraries
Persistent Link to This Record: http://purl.flvc.org/fcla/dt/15407
Sublocation: Digital Library
Use and Reproduction: Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
Use and Reproduction: http://rightsstatements.org/vocab/InC/1.0/
Host Institution: FAU
Is Part of Series: Florida Atlantic University Digital Library Collections.