Fuzzy Control and Fuzzy Kinematic Mapping for a Redundant Space Robot

Abstract

This report documents parts of the research in the Self Mobile Space Manipulator project at Carnegie Mellon University. We developed Fuzzy Logic Friction Compensation schemes that improve motion performance Of SM2. Both static and dynamic errors are reduced. Also, we propose Fuzzy Inverse Kinematic Mapping to resolve the redundancy problem in SM2. The proposed scheme works identically for redundant and non-redundant robots, does not require any constraints to be imposed on the robot configuration and provides a closed-form solution. We investigated this scheme in simulation and then implemented it for real-time teleoperation of SM2.

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Document Details

Document Type
Technical Report
Publication Date
Aug 01, 1992
Accession Number
ADA266866

Entities

People

  • Alois Schacherbauer
  • Yangsheng Xu

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Autonomy
  • C4I
  • Ground and Sea Platforms
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Cartesian Coordinates
  • Collision Avoidance
  • Compensation
  • Computations
  • Coordinate Systems
  • Equations
  • Friction
  • Fuzzy Logic
  • Fuzzy Sets
  • Logic
  • Manipulators
  • Physical Properties
  • Redundancy
  • Simulations
  • Steady State
  • Teleoperation
  • Trajectories

Fields of Study

  • Computer science
  • Engineering

Readers

  • Approximation Theory.
  • Robotics and Automation.
  • Software Engineering.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Space
  • Space - Spacecraft Maneuvers