Forward kinematic analysis of a parallel ankle rehabilitation robot using modified sugeno inference system

P. K. Jamwal, S. Q. Xie

Research output: Contribution to conferencePaper

3 Citations (Scopus)

Abstract

Forward kinematics (FK) mapping for parallel mechanisms is difficult as it involves highly coupled nonlinear motions. Since FK is a key element in closed loop position and force control of parallel manipulators, an accurate prediction of end pose from the available link lengths is essential. This paper proposes a modified Sugeno Inference System (SIS) to accurately predict the forward mapping between joint and Cartesian coordinates. The SIS algorithm has been implemented on a new parallel robotic device, designed for flexible ankle rehabilitation treatments. To increase the accuracy of the SIS, antecedent fuzzy variables are tuned using a modified genetic algorithm and consequent crisp membership functions are trained with a gradient descent algorithm. It has been found that the proposed system provides better accuracy and is also time efficient, which makes it a better candidate for real time control applications.

Original languageEnglish
Pages236-241
Number of pages6
Publication statusPublished - Dec 1 2008
Event39th International Symposium on Robotics, ISR 2008 - Seoul, Korea, Republic of
Duration: Oct 15 2008Oct 17 2008

Other

Other39th International Symposium on Robotics, ISR 2008
CountryKorea, Republic of
CitySeoul
Period10/15/0810/17/08

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Software

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    Jamwal, P. K., & Xie, S. Q. (2008). Forward kinematic analysis of a parallel ankle rehabilitation robot using modified sugeno inference system. 236-241. Paper presented at 39th International Symposium on Robotics, ISR 2008, Seoul, Korea, Republic of.