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Intelligent Distance Controller for Humanoid Robot Arms Handling a Common Object
Dileep K Bhogadi,Hyun Chan Cho(조현찬),Kwang Sun Kim(김광선),Sara Wilson 한국지능시스템학회 2008 한국지능시스템학회 학술발표 논문집 Vol.18 No.1
The main object of this paper is concentrated on distance control of two robot arms of a humanoid using Fuzzy Logic Controller (FLC) for handling a common object. Serial Link Robot arms are widely used in most significantly in Humanoids serving for older people and also in various industrial applications. A method is proposed here that separates the interconnections between two robot arms so that the resulting model of two arms is decomposed into fuzzy logic based controller. The distance between two end effectors is always kept equal to that of the diameter of an object to be handled, so that the object would not fall down. Mathematical model of this system was obtained to simulate the behavior of serial robotic arms in close loop control before using fuzzy logic controller. Lagrangian equation of motion has been used to obtain the appropriate mathematical model of Robotic arms. The results are shown to provide some improvement over those obtained by more conventional means.