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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.
Graduate Research - Graduate
Raul E. Ordonez
Primary Advisor's Department
Electrical and Computer Engineering
Stander Symposium project
"MIMO Adaptive Control with ϵ-modification and On-line Singularity Avoidance Method for Hyper-Redundant Robotic Arm" (2017). Stander Symposium Projects. 925.