A FUZZY LOGIC APPROACH USED IN THE INVERSE KINEMATIC ALGORITHM OF A SPACE ZERO-G FREE FLYING ROBOT

Andrea Bulgarelli, Alessio Aboudan, Carlo Menon, Massimo Trifoglio, Fulvio Gianotti

Abstract

A fuzzy algorithm for the fixed attitude restricted motion problem of free-flying robots is proposed in this paper. One of the main applications is to guide the robotic arm of a space servicing satellite: in such a mission, one of the priorities is to reduce disturbances on the satellite attitude induced by robotic arm movements so as not to perturb the pointing position of the satellite. A robot whose base has both mass and inertia of the same order of magnitude of its robotic arm is considered - in this configuration the disturbance of the satellite attitude is not negligible. Objective is to plan the robot’s arm motion in such a way as the end-effector tracks a desired trajectory while disturbances on the base’s attitude are minimized. This objective is achieved by taking into account the coupling between the arm and the floating base of the robot in the kinematic inversion of the guiding control, controlling the gain matrix of the subtask introduced in the kinematic inversion equation by means of a fuzzy algorithm. The proposed strategy combines the advantages of the inverse kinematic algorithm and a fuzzy logic approach.

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Paper Citation


in Harvard Style

Bulgarelli A., Aboudan A., Menon C., Trifoglio M. and Gianotti F. (2011). A FUZZY LOGIC APPROACH USED IN THE INVERSE KINEMATIC ALGORITHM OF A SPACE ZERO-G FREE FLYING ROBOT . In Proceedings of the International Conference on Evolutionary Computation Theory and Applications - Volume 1: FCTA, (IJCCI 2011) ISBN 978-989-8425-83-6, pages 429-434. DOI: 10.5220/0003653304290434


in Bibtex Style

@conference{fcta11,
author={Andrea Bulgarelli and Alessio Aboudan and Carlo Menon and Massimo Trifoglio and Fulvio Gianotti},
title={A FUZZY LOGIC APPROACH USED IN THE INVERSE KINEMATIC ALGORITHM OF A SPACE ZERO-G FREE FLYING ROBOT},
booktitle={Proceedings of the International Conference on Evolutionary Computation Theory and Applications - Volume 1: FCTA, (IJCCI 2011)},
year={2011},
pages={429-434},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003653304290434},
isbn={978-989-8425-83-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Evolutionary Computation Theory and Applications - Volume 1: FCTA, (IJCCI 2011)
TI - A FUZZY LOGIC APPROACH USED IN THE INVERSE KINEMATIC ALGORITHM OF A SPACE ZERO-G FREE FLYING ROBOT
SN - 978-989-8425-83-6
AU - Bulgarelli A.
AU - Aboudan A.
AU - Menon C.
AU - Trifoglio M.
AU - Gianotti F.
PY - 2011
SP - 429
EP - 434
DO - 10.5220/0003653304290434