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Adaptive Critic based Redundancy Resolution scheme for Robot Manipulators

Biomedical Sciences Research Institute Computer Science Research Institute Environmental Sciences Research Institute Nanotechnology & Advanced Materials Research Institute

P, Prem Kumar, Behera, Laxmidhar and Prasad, G (2009) Adaptive Critic based Redundancy Resolution scheme for Robot Manipulators. In: 2009 IEEE International Conference on Systems, Man and Cybernetics . IEEE. 6 pp. [Conference contribution]

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URL: http://ieeexplore.ieee.org/search/srchabstract.jsp?tp=&arnumber=5346793&searchWithin%3DAuthors%3A.QT.Prem%2C+K.P..QT.%26openedRefinements%3D*%26searchField%3DSearch+All

DOI: 10.1109/ICSMC.2009.5346160

Abstract

A novel adaptive critic based kinematic control scheme for a redundant manipulator has been proposed in this paper. The redundancy resolution has been formulated as a discrete-time optimal control problem. A Takagi-Sugeno (T-S) fuzzy based critic network is proposed to predict the global costate dynamics as fuzzy average of local costate dynamics. The integral cost function is used in the literature earlier, to achieve global optimum in contrast to instantaneous cost functions which gives local optimum. But both the approaches require the computation of pseudo-inverse which is computationally complex and suffers from numerical instability. In contrast, the proposed scheme does not require computation of pseudo-inverse of the Jacobian which makes the method computationally efficient. The proposed scheme is tested on 7 degree of freedom (7DOF) PowerCube manipulator from Amtec Robotics.

Item Type:Conference contribution (Paper)
Faculties and Schools:Faculty of Computing & Engineering
Faculty of Computing & Engineering > School of Computing and Intelligent Systems
Research Institutes and Groups:Computer Science Research Institute
Computer Science Research Institute > Intelligent Systems Research Centre
ID Code:12214
Deposited By:Professor Girijesh Prasad
Deposited On:09 Mar 2010 12:23
Last Modified:09 Mar 2010 12:23

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