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Diagnostic And Adaptive Redundant Robotic Planning And Control, Anya Lynn Tascillo
Diagnostic And Adaptive Redundant Robotic Planning And Control, Anya Lynn Tascillo
Graduate Dissertations and Theses
Neural networks and fuzzy logic are combined into a hierarchical structure capable of planning, diagnosis, and control for a redundant, nonlinear robotic system in a real world scenario. Throughout this work levels of this overall approach are demonstrated for a redundant robot and hand combination as it is commanded to approach, grasp, and successfully manipulate objects for a wheelchair-bound user in a crowded, unpredictable environment. Four levels of hierarchy are developed and demonstrated, from the lowest level upward: diagnostic individual motor control, optimal redundant joint allocation for trajectory planning, grasp planning with tip and slip control, and high level task …