Presenter(s)
Xingsheng Xu
Files
Download Project (3.5 MB)
Description
In this paper, multi-input multi-output (MIMO) direct adaptive torque controller is presented that uses a conventional fuzzy system with ϵ-modification to provide the end-effector tracking of a reference path for a 9-DOF hyper-redundant manipulator. Also, an on-line task modification method (OTMM) is applied to achieve singularity avoidance for the hyper-redundant arm at the velocity level. It is illustrated via simulations that ϵ-modification provides an on-line estimation of the unknown system dynamics boundaries for adaptive control and the OTMM avoids the singularity on-line and waives offline singularity avoidance path planning and the effort to check whether the singularity is escapable for the hyper-redundant manipulator.
Publication Date
4-5-2017
Project Designation
Graduate Research - Graduate
Primary Advisor
Raul E. Ordonez
Primary Advisor's Department
Electrical and Computer Engineering
Keywords
Stander Symposium project
Recommended Citation
"MIMO Adaptive Control with ϵ-modification and On-line Singularity Avoidance Method for Hyper-Redundant Robotic Arm" (2017). Stander Symposium Projects. 925.
https://ecommons.udayton.edu/stander_posters/925
![MIMO Adaptive Control with ϵ-modification and On-line Singularity Avoidance Method for Hyper-Redundant Robotic Arm](https://ecommons.udayton.edu/stander_posters/1925/thumbnail.jpg)