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Modeling of hyper-redundant manipulators dynamics and design of fuzzy controller for the system

posted May 29, 2016, 9:43 AM by Reza A   [ updated Jun 26, 2017, 9:00 AM ]
Seyed Reza Ahmadzadeh

Seyed Reza Ahmadzadeh, "Modeling of Hyper-Redundant Manipulators Dynamics and Design of Fuzzy
Controller for the System",  In Proc. IEEE Intl Conf. of Integration of Knowledge Intensive
Multi-Agent Systems (KIMAS 2005), Waltham, MA, USA, pp. 248-253, 18-21 Apr. 2005.
Bibtex Entry:
@INPROCEEDINGS{ahmadzadeh2005modeling, TITLE={Modeling of Hyper-redundant Manipulators Dynamics and Design of Fuzzy Controller for the System}, AUTHOR={Ahmadzadeh, Seyed Reza}, BOOKTITLE={Integration of Knowledge Intensive Multi-Agent Systems ({KIMAS}), {IEEE} International Conference on}, YEAR={2005}, PAGES={248--253}, PUBLISHER={IEEE} MONTH={April}, ADDRESS={Waltham,MA,USA}, DOI={10.1109/KIMAS.2005.1427089} }
Hyper-redundant manipulators having degrees of freedom much more than required, have many
advantages and important capabilities. In this paper, modeling of the manipulator dynamics is done
using a special curve called 'backbone' curve, modal method, Lagrangian mechanics and geometric
transformation between variables space of backbone curve and manipulator joints. The dependency of
the nonlinear and coupled terms of the dynamics model to joint variables makes some difficulties in
classical methods to controller design. To overcome this problem, fuzzy controllers that have
appropriate efficiency in complex and nonlinear systems are used. For demonstrating this matter,
dynamics modeling of 10 degrees of freedom manipulator is done. Then a fuzzy controller is designed
with attention to the dynamics behavior of the system. Manipulator behavior through various and
noisy inputs are evaluated by simulation of the model including fuzzy controller. The results show
very small error in manipulator motions and suitable condition of the designed fuzzy controller
based on the dynamics model.

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