King's College London

Research portal

Fuzzy Model Based Stability Analysis of the Metamorphic Robotic Palm

Research output: Contribution to journalArticle

Original languageEnglish
Pages (from-to)8630-8635
Number of pages6
JournalIFAC-PapersOnLine
Volume50
Issue number1
Early online date18 Oct 2017
DOIs
Publication statusE-pub ahead of print - 18 Oct 2017

Documents

King's Authors

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.

Download statistics

No data available

View graph of relations

© 2018 King's College London | Strand | London WC2R 2LS | England | United Kingdom | Tel +44 (0)20 7836 5454