Fuzzy Model Based Stability Analysis of the Metamorphic Robotic Palm

Xiaozhan Yang; Jie Sun; Hak-Keung Lam; Jian S. Dai

doi:10.1016/j.ifacol.2017.08.1517

Fuzzy Model Based Stability Analysis of the Metamorphic Robotic Palm

Xiaozhan Yang, Jie Sun, Hak-Keung Lam, Jian S. Dai

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Abstract

The metamorphic hand can flexibly relocate fingers by a reconfigurable palm. A precondition for the successful hand operation would be a stable palm control system. Following this concern, this paper presents the stability analysis of the reconfigurable palm control system based on the Takagi-Sugeno (T-S) fuzzy model. The dynamic model of the metamorphic palm is developed by using the Euler Lagrangian theory and the closed-chain kinematic constraints. To further reduce the conservativeness in stability analysis and ensure a wider range of stable dynamic performance, a membership-dependent fuzzy modeling approach is also applied. Simulation is provided to demonstrate the achieved improvement of analysis results.

Original language	English
Pages (from-to)	8630-8635
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	50
Issue number	1
Early online date	18 Oct 2017
DOIs	https://doi.org/10.1016/j.ifacol.2017.08.1517
Publication status	E-pub ahead of print - 18 Oct 2017

Keywords

Metamorphic palm
dynamic modeling
stability analysis
fuzzy system

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10.1016/j.ifacol.2017.08.1517

Fuzzy Model Based Stability_YANG_Publishedonline18October2017_GREEN AAM Accepted author manuscript, 645 KBLicence: CC BY-NC-ND

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KW - stability analysis

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Fuzzy Model Based Stability Analysis of the Metamorphic Robotic Palm

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Keywords

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