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In presence of the uncertainties in robot dynamics, model-based control law can easily fail. In our paper, this important question is tackled by using fuzzy adaptive control to drive with obstacle avoidance an industrial redundant manipulator under the hypothesis of uncertain dynamics. This hypothesis makes our controller an original one, since the problem of the tracking trajectory in the presence...
In this paper, we develop a control of a redundant robot manipulator. That has to carry out a trajectory tracking in operational space while avoiding an obstacle. For this purpose, extended Jacobian method is used. The Self-motion vector is introduced at the level of the inverse kinematic solution in order to produce the obstacle avoidance (the secondary task). Thus, robot avoids obstacles without...
To meet the requirements due to the existing constraints in addition to the main task, it is possible to use, for the redundant robots, the self-motion (internal motion of joints). However, this solution can lead to a loss of the motion cyclicity in joints space. In this work, three methods are compared which ensure the conservation of the movement cyclicity. These latter are based respectively on...
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