Velocity and Acceleration Estimation with Fuzzy Reasoning and Its Application to Robot Trajectory Conotrol

Abstract

In the previous paper, we proposed a digital acceleration control method for trajectory control of robot manipulator from a basic view point for motion process. However, there has been practical difficulties for the direct measurement of the velocity and acceleration of the robot manipulator. In this paper, we propose an estimating method of them based on fuzzy reasoning. A serial-drive robot manipulator is taken as an example to show the effectiveness of the proposed method.