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Fuzzy controllers have been proven to be universal, that is, they can provide any control surface. Their microelectronic implementation is very suitable to achieve high-speed (real-time operation), and low area and power consumption. This paper focuses on discussing the two basic approaches that can be employed to design programmable universal controller integrated circuits. Analog, mixed-signal and digital realizations are summarized and compared.
A new approach to control an omnidirectional mobile manipulator is developed. The robot is considered to be an individual agent aimed at performing robotic tasks described in terms of a displacement and a force interaction with the environment. A reactive architecture and impedance control are used to ensure reliable task execution in response to environment stimuli. The mechanical structure of our holonomic mobile manipulator is built of two joint manipulators mounted on a holonomic vehicle. The...
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