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Summary report: A preliminary investigation into the use of fuzzy logic for the control of redundant manipulatorsThe Rice University Department of Mechanical Engineering and Materials Sciences' Robotics Group designed and built an eight degree of freedom redundant manipulator. Fuzzy logic was proposed as a control scheme for tasks not directly controlled by a human operator. In preliminary work, fuzzy logic control was implemented for a camera tracking system and a six degree of freedom manipulator. Both preliminary systems use real time vision data as input to fuzzy controllers. Related projects include integration of tactile sensing and fuzzy control of a redundant snake-like arm that is under construction.
Document ID
19920014195
Acquisition Source
Legacy CDMS
Document Type
Contractor Report (CR)
Authors
Cheatham, John B., Jr. (Rice Univ. Houston, TX., United States)
Magee, Kevin N. (Rice Univ. Houston, TX., United States)
Date Acquired
September 6, 2013
Publication Date
December 1, 1991
Subject Category
Cybernetics
Report/Patent Number
NAS 1.26:190277
NASA-CR-190277
Accession Number
92N23438
Funding Number(s)
CONTRACT_GRANT: NCC9-16
PROJECT: RICIS PROJ. AI-02
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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