Accession Number : ADA266866


Title :   Fuzzy Control and Fuzzy Kinematic Mapping for a Redundant Space Robot


Descriptive Note : Technical rept.,


Corporate Author : CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST


Personal Author(s) : Schacherbauer, Alois ; Xu, Yangsheng


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a266866.pdf


Report Date : Aug 1992


Pagination or Media Count : 74


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.


Descriptors :   *ROBOTICS , *SPACE SYSTEMS , *MANIPULATORS , KINEMATICS , DYNAMICS , MOTION , CONFIGURATIONS , ERRORS , COMPENSATION , STATICS , SPACE BASED , REDUNDANCY , FRICTION , LOGIC , MAPPING , MOBILE , TIME , ROBOTS , REAL TIME , SIMULATION


Subject Categories : Cybernetics
      Astronautics


Distribution Statement : APPROVED FOR PUBLIC RELEASE