A two level hierarchical fuzzy controller for hyper-redundant cooperative robots

A hierarchical fuzzy controller with two levels is proposed to solve the control for a multi-chain robotic system formed by tentacle manipulators grasping a common object with hard point contacts. The control system contains two parts: the first component is a conventional controller which implements a control strategy based on the Lyapunov stability, and the second one is an adaptive fuzzy controller which adjusts the control parameters by the output of the first level controller. The stability and robustness is investigated and the fuzzy rules are established. Simulation results are presented and discussed.

[1]  Matthew T. Mason,et al.  Compliance and Force Control for Computer Controlled Manipulators , 1981, IEEE Transactions on Systems, Man, and Cybernetics.

[2]  L. Silverman.  Inversion of multivariable linear systems , 1969 .

[3]  David E. Orin,et al.  Optimal force distribution in multiple-chain robotic systems , 1991, IEEE Trans. Syst. Man Cybern..

[4]  T. Ross.  Fuzzy Logic with Engineering Applications , 1994 .

[5]  이수영,et al.  다관절형 로봇을 위한 강인한 퍼지 논리 제어 ( A Robust Fuzzy Logic Control for Robot Manipulators ) , 1995 .

[6]  Mircea Ivanescu,et al.  Dynamic Control for a Tentacle Manipulator , 1984 .

[7]  Robert J. Schilling,et al.  Fundamentals of Robotics , 1990 .

[8]  David E. Orin,et al.  Efficient formulation of the force-distribution equations for simple closed-chain robotic mechanisms , 1991, IEEE Trans. Syst. Man Cybern..

[9]  Y. F. Zheng,et al.  Optimal Load Distribution for Two Industrial Robots Handling a Single Object , 1989 .

[10]  Mircea Ivanescu,et al.  A sequential distributed variable structure controller for a tentacle arm , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[11]  Myung Jin Chung,et al.  A robust fuzzy logic controller for robot manipulators with uncertainties , 1997, IEEE Trans. Syst. Man Cybern. Part B.

[12]  M Ivanescu.  A new manipulator arm: a tentacle model , 1986 .

[13]  Fan-Tien Cheng,et al.  Control and simulation for a closed-chain dual redundant ' manipulator system , 1995, J. Field Robotics.

[14]  Mircea Ivanescu,et al.  A variable structure controller for a tentacle manipulator , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.