Fuzzy logic kinematic control for redundant manipulators under multiple performance criteria

• Main Author: Pang, Jui Boo
• Other Authors: Wang, Dan Wei
• Format: Theses and Dissertations
• Language: English
• Published: 2009
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation
• Online Access: http://hdl.handle.net/10356/19651
• Institution: Nanyang Technological University

When utilizing the kinematic redundancy of robotic manipulators, most of the researches have focused on a single optimization criterion. However, in many cases, single optimization criterion is not sufficient to deal with the complicated tasks and environments. Hence, taking multiple goals into cons...