The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

This report documents parts of the research in the Self Mobile Space Manipulator project at Carnegie Mellon University. We developed Fuzzy Logic Friction Compensation schemes that improve motion performance of SM2. Both static and dynamioc errors are reduced. Also, we propose Fuzzy Inverse Kinematic Mapping to resolve the redundancy problem in SM2. The proposed scheme works identically for redundant and non-redundant robots, does not require any constraints to be imposed on the robot configuration and provides a closed-form solution . We investigated this scheme in simulation and then implemented it for real-time teleoperation of SM2.

Keywords

Self Mobile Space Manipulator, fuzzy logic friction compensation schemes, real-time teleoperation

Notes

Grant ID: NAGW-2998

Number of pages: 60

Text Reference

Alois Schacherbauer and Yangsheng Xu, "Fuzzy Control and Fuzzy Kinematic Mapping for a Redundant Space Robot," tech. report CMU-RI-TR-92-12, Robotics Institute, Carnegie Mellon University, August, 1992

BibTeX Reference

@techreport{Xu_1992_289,
   author = "Alois Schacherbauer and Yangsheng Xu",
   title = "Fuzzy Control and Fuzzy Kinematic Mapping for a Redundant Space Robot",
   booktitle = "",
   institution = "Robotics Institute",
   month = "August",
   year = "1992",
   number= "CMU-RI-TR-92-12",
   address= "Pittsburgh, PA",
}

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