Hedge-Algebras-Based Controller for Mechanisms of Relative Manipulation

Khôi, Phan Bùi; Toan, Nguyen Van

doi:10.1007/s12541-018-0045-8

Cited by 13 publications

(4 citation statements)

References 22 publications

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“…As mentioned, to overcome shortcomings of fuzzy logic, an algebraic approach to linguistic hedges in fuzzy logic will be presented. First, each linguistic variable (|F|, |M|, |V| and |W|) is considered as an HA,(X, G, C, H, ≤) [10], [23][24][25][26][27].…”

Section: Ha-based Admittance Controller With Four Point Bilinear Inte...mentioning

confidence: 99%

“…As a result, the fuzzy rule base can be defined as a real grid surface in Cartesian coordinates in which one fuzzy clause can be defined as a point in the Cartesian product of suitable hedge algebras. These properties enable HA to solve engineering problems effectively and are analyzed clearly in [23][24][25][26][27][28][29][30][31][32][33]. This analysis motivated authors in [10] to propose an admittance controller by using hedge algebras to discover the inherent order-based structures of the terms and term domains of linguistic variables.…”

Section: Introductionmentioning

confidence: 99%

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A MLP-Hedge-Algebras Admittance Controller for Physical Human–Robot Interaction

Toan

Khôi

2021

Applied Sciences

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Recently, the identification of inertia and damping matrices (IIDM) and safety issues, as well as natural cooperation, are interestingly considered to enhance the quality of the physical human–robot interaction (pHRI). To cover all of these issues, advanced admittance controllers, such as those based on fuzzy logic or hedge algebras, have been formulated and successfully applied in several industrial problems. However, the inference mechanism of those kinds of controllers causes the discreteness of the super surface describing the input–output relationship in the Cartesian coordinates. As a consequence, the quality of the safe-natural cooperation between humans and robots is negatively affected. This paper presents an alternative admittance controller for pHRI by using a combination of hedge algebras and multilayer perceptron neural network (MLP), whose purpose is to create a more accurate inference mechanism for the admittance controller. To our best knowledge, this is the first time that such a neural network is considered for the inference mechanism of hedge algebras and also the first time that such an admittance controller is used for pHRI. The proposed admittance controller is verified on a teaching task using a 6-DOF manipulator. Experimental results have shown that the proposed method provides better cooperation compared with previous methods.

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Section: Ha-based Admittance Controller With Four Point Bilinear Inte...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A MLP-Hedge-Algebras Admittance Controller for Physical Human–Robot Interaction

Toan

Khôi

2021

Applied Sciences

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“…Studies using the hedge algebra [26][27][28][29][30][31][32][33][34][35] have shown favorable results, demonstrating the method's merits. In recent years, HA theory has been used not only to control structural vibrations [36][37][38][39][40] but also to control serial robot trajectories [41][42][43][44]. Te study fndings demonstrate that using HAC in orbital control for serial robots is more successful than using PID or FLC.…”

Section: Introductionmentioning

confidence: 99%

A Controller for Delta Parallel Robot Based on Hedge Algebras Method

Bui

Nguyen

2023

Journal of Robotics

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Based on the Hedge Algebras (HA) methodology, this paper presents a method for managing the trajectory of a delta robot. This technique is easily applied to existing devices in the process control domain. In the proposed control method, the semantically quantitative mapping may replace the verbal values of the fundamental rule in an analogous manner (SQM). Consequently, the basic rule may be represented as a three-dimensional numerical grid with linear interpolations. Compared to the Fuzzy Logic controller, it reduces the controller’s complexity. In addition, when the control strategy is applied in reality, the system’s response time is decreased. The simulation results indicate that the proposed technique is more exact than previous approaches. The experimental results reveal that the proposed technique is effective for robot trajectory tracking difficulties.

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“…These achieved theoretical results sufficiently form a necessary formalized basis for solving application problems in different fields. One can find its applications in cybernetics [15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30], in classification and regression [31,32,33], decision making [38,39], multi-channel image processing [37], robotics [45,46,47,48,49], networking [43,44], fuzzy linguistic time series [40,41,42], linguistic data summaries [35,36], databases and object-oriented databases based on hedge algebraic semantic [58,59,60], and it is not the end.…”

Section: Introductionmentioning

confidence: 99%

Information and Mathematical Structures Contained in the Natural Language Word Domains and Their Applications

Hồ

2021

JCC

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The study stands on the standpoint that there exist relationships between real-world structures and their provided information in reality. Such relationships are essential because the natural language plays a specifically vital and crucial role in, e.g., capturing, conveying information, and accumulating knowledge containing useful high-level information. Consequently, it must contain certain semantics structures, including linguistic (L-) variables’ semantic structures, which are fundamental, similar to the math variables’ structures. In this context, the fact that the (L-) variables’ word domains can be formalized as algebraic semantics-based structures in an axiomatic manner, called hedge algebras (HAs,) is still a novel event and essential for developing computational methods to simulate the human capabilities in problem-solving based on the so-called natural language-based formalism. Hedge algebras were founded in 1990. Since then, HA-formalism has been significantly developed and applied to solve several application problems in many distinct fields, such as fuzzy control, data classification and regression, robotics, L-time series forecasting, and L-data summarization. The study gives a survey to summarize specific distinguishing fundamental features of HA-formalism, its applicability in problem-solving, and its performance.

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Hedge-Algebras-Based Controller for Mechanisms of Relative Manipulation

Cited by 13 publications

References 22 publications

A MLP-Hedge-Algebras Admittance Controller for Physical Human–Robot Interaction

A MLP-Hedge-Algebras Admittance Controller for Physical Human–Robot Interaction

A Controller for Delta Parallel Robot Based on Hedge Algebras Method

Information and Mathematical Structures Contained in the Natural Language Word Domains and Their Applications

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