NDLI: A fuzzy expert organizer/robust control strategy for a moving base robotic part assembly

Content Provider	IEEE Xplore Digital Library
Author	Changman Son Vachtsevanos, G.
Copyright Year	1994
Description	Author affiliation: Sch. of Electr. Eng., Georgia Inst. of Technol., Atlanta, GA, USA (Changman Son; Vachtsevanos, G.)
Abstract	In this paper, three analytical tasks, stability analysis, robust control, and fuzzy intelligent organizer for a moving base robot are introduced. These tools are necessary for a mobile robot to perform complex assembly or manufacturing tasks in an unstructured environment. A stability envelope based on the relations between the system's mechanical energy and the stability relation is derived. A robust control algorithm is applied to the moving base robot that accounts for the dynamics of the composite system. A fuzzy intelligent organizing control strategy, based on a fuzzy rulebase and derived from measured force/moment data, for a robotic device performing quasi-static assembly tasks is presented. A modified distance metric is employed to measure the uncertainty (fuzziness) as it is related to specific control actions. A learning algorithm based on the probability of a fuzzy event is introduced. The top organizing level determines the most appropriate n-tuple control values with minimum fuzziness and downlinks them to the lower level of the system which carries out the specified task. Experimental results show the effectiveness of the proposed approach. Finally a hierarchical controller which consists of a higher level fuzzy expert organizer coordinating with a lower level robust controller is proposed. Experimental and simulation results are used to demonstrate the effectiveness of the algorithms.
Starting Page	3290
Ending Page	3295
File Size	620739
Page Count	6
File Format	PDF
ISBN	0818653302
DOI	10.1109/ROBOT.1994.351064
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-05-08
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy control Robust control Intelligent robots Robot kinematics Robotic assembly Intelligent control Organizing Force measurement Stability analysis Mobile robots
Content Type	Text
Resource Type	Article

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