Please use this identifier to cite or link to this item: https://scholarbank.nus.edu.sg/handle/10635/111179
DC FieldValue
dc.titleFuzzy logic joint path generation for kinematic redundant manipulators with multiple criteria
dc.contributor.authorWang, D.
dc.contributor.authorSoh, Y.C.
dc.contributor.authorGu, M.
dc.date.accessioned2014-11-27T09:45:27Z
dc.date.available2014-11-27T09:45:27Z
dc.date.issued1996
dc.identifier.citationWang, D.,Soh, Y.C.,Gu, M. (1996). Fuzzy logic joint path generation for kinematic redundant manipulators with multiple criteria. Journal of Intelligent and Fuzzy Systems 4 (2) : 89-99. ScholarBank@NUS Repository.
dc.identifier.issn10641246
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/111179
dc.description.abstractKinematic redundancy enables a robot to change its joint configuration without changing the position of the end effector of the robot. In addition to the requirement of path tracking in Cartesian space, many tasks require a manipulator to achieve more than one performance criteria or take into account some manipulation constraints. In this article, a fuzzy logic approach is proposed for the desired joint path generation for redundant manipulators with consideration of multiple criteria. Performance criteria are fuzzified and their relative importance is introduced. The desired joint path is determined based on the relative importance of various criteria and the satisfaction measures of each candidate joint path to all criteria by a fuzzy logic multiple criteria decision making process. Simulation results are presented to demonstrate that the proposed method can generate a path that can satisfy two performance criteria. © 1996 John Wiley and Sons, Inc.
dc.sourceScopus
dc.typeArticle
dc.contributor.departmentINSTITUTE OF SYSTEMS SCIENCE
dc.description.sourcetitleJournal of Intelligent and Fuzzy Systems
dc.description.volume4
dc.description.issue2
dc.description.page89-99
dc.identifier.isiutNOT_IN_WOS
Appears in Collections:Staff Publications

Show simple item record
Files in This Item:
There are no files associated with this item.

Page view(s)

43
checked on May 30, 2020

Google ScholarTM

Check


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.