Fuzzy Control and Fuzzy Kinematic Mapping for a Redundant Space Robot

Abstract

This report documents parts of the research in the Self Mobile Space Manipulator project at Carnegie Mellon University. We developed Fuzzy Logic Friction Compensation schemes that improve motion performance Of SM2. Both static and dynamic errors are reduced. Also, we propose Fuzzy Inverse Kinematic Mapping to resolve the redundancy problem in SM2. The proposed scheme works identically for redundant and non-redundant robots, does not require any constraints to be imposed on the robot configuration and provides a closed-form solution. We investigated this scheme in simulation and then implemented it for real-time teleoperation of SM2.