NDLI: Identification of Rigid-Body Dynamics of Robotic Manipulators Using Type-2 Fuzzy Logic Filter

Content Provider	IEEE Xplore Digital Library
Author	Qun Ren Zhongkai Qin Baron, L. Birglen, L. Balazinski, M.
Copyright Year	2007
Description	Author affiliation: Ecole Polytech de Montreal, Montreal (Qun Ren; Zhongkai Qin; Baron, L.; Birglen, L.; Balazinski, M.)
Abstract	In this paper, a subtractive clustering based type-2 Takagi-Sugeno-Kang (TSK) fuzzy logic process is used as a fuzzy filter to treat acceleration data for the purpose of obtaining the rigid-body dynamical parameters of robotic manipulators. Experimental results show the effectiveness of this method, which not only provides good accuracy of prediction of the rigid-body dynamical parameters of robotic manipulators, but also assesses the uncertainties associated with the modeling process and with the outcome of the model itself. A comparison of the results from the type-2 fuzzy logic filtering algorithm with its type-1 counterpart is presented and limitation of those methods is discussed.
Starting Page	387
Ending Page	392
File Size	370510
Page Count	6
File Format	PDF
ISBN	1424412137
DOI	10.1109/NAFIPS.2007.383870
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-06-24
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulator dynamics Robots Fuzzy logic Filters Predictive models Takagi-Sugeno-Kang model Acceleration Accuracy Uncertainty Filtering algorithms
Content Type	Text
Resource Type	Article

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Identification of Rigid-Body Dynamics of Robotic Manipulators Using Type-2 Fuzzy Logic Filter