Control of redundant manipulators by fuzzy linguistic commands

Abstract

This paper presents a method of controlling redundant manipulator by spoken language commands consisting fuzzy linguistic information. The present system introduces the fuzzyneuro control paradigm to the contemporary speech controlled robotic systems, which are based on on-off control paradigm. The system is sensitive to the action activation commands, action modification commands, and action repetition commands of the human-robot conversation carried out by practical dialogues. C.redibility of the proposed system is experimentally proved by controlling a manipulator with seven degrees-of-freedom by fuzzy linguistic information enriched spoken language commands to perform an assembling task.