Fuzzy weighted subtask controller for redundant manipulator
Y jun Yoo, D sung Jung, Y jin Jang, S chul Won - Robotica, 2015 - cambridge.org
We propose a fuzzy weighted subtask controller for a redundant robot manipulator. To
expand the feasibility of the inverse kinematic solution, we introduce a weighted pseudo …
expand the feasibility of the inverse kinematic solution, we introduce a weighted pseudo …
Obstacle avoidance for redundant manipulator without information of the joint angles
YJ Yoo, KJ Oh, YJ Choi, SC Won - 2013 9th Asian Control …, 2013 - ieeexplore.ieee.org
We propose an obstacle avoidance algorithm for redundant manipulator. In practical, we can
not use distance in terms of the joint angles, only uses the distance informations between …
not use distance in terms of the joint angles, only uses the distance informations between …
Weighted Subtask Controller for Redundant Manipulator Using Auxiliary Positive Function
Y Yoo, D Jung, S Won - IEICE Transactions on Fundamentals of …, 2018 - search.ieice.org
We propose a weighted subtask controller and sufficient conditions for boundedness of the
controller both velocity and acceleration domain. Prior to designing the subtask controller, a …
controller both velocity and acceleration domain. Prior to designing the subtask controller, a …
[引用][C] Subtask Control to Avoid Joint Limits for Redundant Planar Robot
송민철， 유영준， 원상철 - 제어로봇시스템학회국내학술대회논문집, 2012 - dbpia.co.kr
A subtask controller for a kinematically redundant robot to avoid joint limits is presented. A
subtask function is designed as a criterion for the joint limit violation. The subtask function is …
subtask function is designed as a criterion for the joint limit violation. The subtask function is …