Date of Award
1997
Document Type
Thesis
Publication Status
Version of Record
Submission Date
October 2026
Thesis/Dissertation Advisor [Chair]
Zilouchian, Ali
Abstract
In this thesis work, hierarchical control techniques will be used for controlling a robotic manipulator. The hierarchical control will be implemented with fuzzy logic to improve the robustness and reduce the run time computational requirements. Hierarchical control will consist on solving the inverse kinematic equations using fuzzy logic to direct each individual joint. A commercial Micro-robot with three degrees of freedom will be used to evaluate this methodology. A decentralized fuzzy controller will be used for each joint, with a Fuzzy Associative Memories (FAM) performing the inverse kinematic mapping in a supervisory mode. The FAM determines the inverse kinematic mapping which maps the desired Cartesian coordinates to the individual joint angles. The individual fuzzy controller for each joint will generate the required control signal to a DC motor to move the associated link to the new position. The proposed hierarchical fuzzy controller will be compared to a conventional PD controller.
Extent
108 p.
Recommended Citation
Howard, David William, "Application of fuzzy logic for the solution of inverse kinematics and hierarchical controls of robotic manipulators" (1997). Electronic Theses and Dissertations 1990 - 1999. 1057.
https://digitalcommons.fau.edu/etd_general_4/1057
Identifier
FADT15407
Comments
College of Engineering and Computer Science|FAU Electronic Theses and Dissertations Collection|Thesis (M.S.)--Florida Atlantic University, 1997.|College of Engineering and Computer Science