Fuzzy hysteresis coordinator for neuro-fuzzy position controlled manipulators

Pham, Duc Truong, Fahmy, Ashraf and Eldukhri, Eldaw Elzaki 2008. Fuzzy hysteresis coordinator for neuro-fuzzy position controlled manipulators. Presented at: 17th IFAC World Congress, Seoul, South Korea, 6-11 July 2008. Published in: Chung, Myung Jin and Misra, Pradeep eds. Proceedings of the 17th IFAC World Congress, 2008, Seoul, Korea, 6-11 July 2008. International Federation of Automatic Control (IFAC), pp. 9168-9173. 10.3182/20080706-5-KR-1001.01550

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Abstract

A fuzzy coordination scheme for two neuro-fuzzy position controlled manipulators performing upper-limb rehabilitation is developed by maintaining certain kinematic relationship between robot manipulator's end-effectors. The basic idea of the new coordination strategy is to benefit from the use of the motion synchronization concept within acceptable tolerance for the vector connecting the two manipulator's endeffectors. In this scheme, each manipulator tracks its desired trajectory using its neurofuzzy Cartesian controller while synchronizing its motion with the other manipulator so that the position error computed for the vector connecting the two manipulator's endeffectors is reduced to zero or kept within acceptable tolerance.

Item Type:	Conference or Workshop Item (Paper)
Date Type:	Publication
Status:	Published
Schools:	Engineering Centre for Advanced Manufacturing Systems At Cardiff (CAMSAC)
Subjects:	T Technology > TA Engineering (General). Civil engineering (General)
Uncontrolled Keywords:	Guidance navigation and control; Intelligent robotics; Robots manipulators
Publisher:	International Federation of Automatic Control (IFAC)
ISBN:	9783902661005
ISSN:	14746670
Last Modified:	13 Jan 2023 02:24
URI:	https://orca.cardiff.ac.uk/id/eprint/33903

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