Fuzzy logic approach to enhance the performance of remote manipulator systems

Robert N. Lea; Joe A. Mica; Yashvant Jani; Edgar Dohmann

doi:10.1117/12.211790

13 June 1995 Fuzzy logic approach to enhance the performance of remote manipulator systems

Robert N. Lea, Joe A. Mica, Yashvant Jani, Edgar Dohmann

Proceedings Volume 2493, Applications of Fuzzy Logic Technology II; (1995) https://doi.org/10.1117/12.211790
Event: SPIE's 1995 Symposium on OE/Aerospace Sensing and Dual Use Photonics, 1995, Orlando, FL, United States

Abstract

In this paper we extend previous work done at the NASA Goddard Space Flight Center on the development of a fuzzy logic controller to generate individual joint rate commands to the robotic arm in response to human input, via remote manipulation of translational and rotational hand controllers. In this phase of the study we have utilized the Goddard Space FLight Center Remote Manipulator hardware/software system in which the fuzzy logic controller has currently been implemented, and have used this system for tuning the controller for near optimal response. Performance results from the system studies are presented.

Citation Download Citation

Robert N. Lea, Joe A. Mica, Yashvant Jani, and Edgar Dohmann "Fuzzy logic approach to enhance the performance of remote manipulator systems", Proc. SPIE 2493, Applications of Fuzzy Logic Technology II, (13 June 1995); https://doi.org/10.1117/12.211790

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