Fuzzy approach of singularities in control strategh for multi-sectional robot arms of rotational links

Janos F. Bito, Jozsef K. Tar, Attila Bencsik, Imre Rudas

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper deals with the problem of singularities and unambiguous solutions of the inverse kinematic task for multi-sectional robot arms having no closed-form analytical solution. Numerical aspects related to the method of finite-differences are considered as well as the concept of mathematical and numerical singularities, speed of convergence, possible divergences. In order to determine whether "to what extent a problem is singular", a fuzzy approach is introduced and used in the numerical solutions to bypass singularities. Within the frames of this "fuzzy" approach, the main features of several concrete solutions are compared to each other. These properties are illustrated by the results of numerical simulations.

Original languageEnglish
Title of host publicationIEEE International Workshop on Emerging Technologies and Factory Automation
Subtitle of host publicationTechnology for the Intelligent Factory - Proceedings, ETFA 1992
EditorsR. Zurawski, T.S. Dillon
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages629-633
Number of pages5
ISBN (Electronic)0780308867
DOIs
Publication statusPublished - Jan 1 1992
Event1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992 - Melbourne, Australia
Duration: Aug 11 1992Aug 14 1992

Publication series

NameIEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Volume1992-August
ISSN (Print)1946-0740
ISSN (Electronic)1946-0759

Conference

Conference1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992
CountryAustralia
CityMelbourne
Period8/11/928/14/92

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering
  • Computer Science Applications

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    Bito, J. F., Tar, J. K., Bencsik, A., & Rudas, I. (1992). Fuzzy approach of singularities in control strategh for multi-sectional robot arms of rotational links. In R. Zurawski, & T. S. Dillon (Eds.), IEEE International Workshop on Emerging Technologies and Factory Automation: Technology for the Intelligent Factory - Proceedings, ETFA 1992 (pp. 629-633). [683328] (IEEE International Conference on Emerging Technologies and Factory Automation, ETFA; Vol. 1992-August). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ETFA.1992.683328