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http://hdl.handle.net/20.500.12386/34809
Title: | A fuzzy logic approach used in the inverse kinematic algorithm of a space zero-g free flying robot | Authors: | BULGARELLI, ANDREA Aboudan, A. Menon, C. TRIFOGLIO, MASSIMO GIANOTTI, Fulvio |
Issue Date: | 2011 | Volume: | Proceedings of the International Conference on Evolutionary Computation Theory and Applications (FCTA-2011) | First Page: | 429-434 | Abstract: | A fuzzy algorithm for the fixed attitude restricted motion problem of free-flying robots is proposed in this paper. One of the main applications is to guide the robotic arm of a space servicing satellite: in such a mission, one of the priorities is to reduce disturbances on the satellite attitude induced by robotic arm movements so as not to perturb the pointing position of the satellite. A robot whose base has both mass and inertia of the same order of magnitude of its robotic arm is considered - in this configuration the disturbance of the satellite attitude is not negligible. Objective is to plan the robot's arm motion in such a way as the end-effector tracks a desired trajectory while disturbances on the base's attitude are minimized. This objective is achieved by taking into account the coupling between the arm and the floating base of the robot in the kinematic inversion of the guiding control, controlling the gain matrix of the subtask introduced in the kinematic inversion equation by means of a fuzzy algorithm. The proposed strategy combines the advantages of the inverse kinematic algorithm and a fuzzy logic approach. | Conference Name: | International Conference on Evolutionary Computation Theory and Applications (FCTA-2011) | Conference Place: | Paris | Conference Date: | 24- 26 October, 2011 | URI: | http://hdl.handle.net/20.500.12386/34809 | URL: | http://www.scopus.com/inward/record.url?eid=2-s2.0-84862230402&partnerID=MN8TOARS https://ecta.scitevents.org/ECTA2011/special_sessions.asp |
ISBN: | 9789898425836 | Fulltext: | open |
Appears in Collections: | 3.01 Contributi in Atti di convegno |
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2011_FCTA_36533.pdf | 425.66 kB | Adobe PDF | View/Open |
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