Intelligent Control of Human-Inspired Over Actuated Robotic Arm

The paper concerns with the intelligent control of an over-actuated robotic arm. First, it will be presented the original mechanical design of the redundant, cable-driven robot arm with 7 degrees of freedom, whose prototype is being built. Then, it will be synthesized, at the high-control level, an intelligent fuzzy controller that manages activation of the redundant number of robot arm actuators. Structure of the fuzzy controller is given in the paper. Then, the intelligent controller will be applied in the frame of a mathematical model of the considered robotic arm. Performance verification of the synthesized intelligent controller of robotic arm will be accomplished by means of several simulation experiments. Corresponding results are presented and analyzed at the end of the paper. Future directions of research and development in this field will be emphasized as well as the expected results and applications to be planned.