Rate Command of Robot Joint Shaped by Fuzzified Weighting and Error-Projected Gradient-Descent

Author

Hsiang-Lin Tu ; Ping-Ho Chen

Author_Institution

Dept. of Electr. Eng., Tungnan Univ., Taipei, Taiwan

fYear

2013

fDate

13-16 Oct. 2013

Firstpage

1754

Lastpage

1758

Abstract

Using autonomous position of end effector of articulated robotic arm, angular rates of robot joints are structed by fuzzy-based weighting and error-projected gradient descent. The assignment of angular rate for robot joint guarantees the control stability due to a decreasing of error potential. A method of error projection helps to implement gradient descent, i.e. a ratio of perturbed translation of end effector to perturbed rotation of joint angle. Fuzzified weighting surface is shaped to a hyper paraboloid via fuzzy logic.

Keywords

end effectors; fuzzy control; gradient methods; position control; stability; angular rate assignment; articulated robotic arm; control stability; end effector autonomous position; end effector positioning; error potential; error projection method; error-projected gradient descent; fuzzified weighting surface; fuzzy logic; fuzzy-based weighting gradient descent; hyper paraboloid; robot joint rate command; robot joints angular rates; Conferences; End effectors; Joints; Kinematics; Robot kinematics; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics (SMC), 2013 IEEE International Conference on

Conference_Location

Manchester

Type

conf

DOI

10.1109/SMC.2013.302

Filename

6722055