Emulation of spline curves and its applications in robot motion control

Author

Zhang, Jianwei ; Raczkowsky, Jörg ; Herp, Andreas

Author_Institution

Inst. for Real-Time Comput. Syst. & Robotics, Karlsruhe Univ., Germany

fYear

1994

fDate

26-29 Jun 1994

Firstpage

831

Abstract

The paper presents the design of a fuzzy controller to emulate spline curves for generating smooth motion trajectories. Spline models and a fuzzy control model are compared. Based on this comparison, a fuzzy control model is devised to make the robot continuously pass through the planned subgoals guiding the robot motion. By analyzing primitive movements along subgoals, the rule base can be developed. System structures are proposed for applying this fuzzy controller in the hierarchical motion control of robot systems. Its applications in robot arms and mobile robots are also presented

Keywords

fuzzy control; intelligent control; mobile robots; motion control; robot kinematics; splines (mathematics); fuzzy control model; fuzzy controller; hierarchical motion control; mobile robots; planned subgoals; primitive movements; robot arms; robot motion control; rule base; smooth motion trajectories; spline curve emulation; spline models; system structures; Control systems; Emulation; Fuzzy control; Fuzzy systems; Intelligent robots; Motion control; Robot control; Robot motion; Robot sensing systems; Spline;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems, 1994. IEEE World Congress on Computational Intelligence., Proceedings of the Third IEEE Conference on

Conference_Location

Orlando, FL

Print_ISBN

0-7803-1896-X

Type

conf

DOI

10.1109/FUZZY.1994.343843

Filename

343843