Adaptive Regulation of the Manipulator's Movement Speed Depending on the Distance to the Person and the Level of Load on the Actuator

Yevsieiev, V.; Maksymova, S.; Starykova, S.; Jafar Ababneh

Публікація:
Adaptive Regulation of the Manipulator's Movement Speed Depending on the Distance to the Person and the Level of Load on the Actuator

dc.contributor.author	Yevsieiev, V.
dc.contributor.author	Maksymova, S.
dc.contributor.author	Starykova, S.
dc.contributor.author	Jafar Ababneh
dc.date.accessioned	2025-10-03T20:24:59Z
dc.date.available	2025-10-03T20:24:59Z
dc.date.issued	2024
dc.description.abstract	The article presents an approach to adaptive control of the manipulator speed based on fuzzy logic, which allows taking into account the distance to the person and the level of load on the executive body. The proposed model forms control actions in accordance with the logic of safe human-robot interaction, providing a dynamic change in speed to increase efficiency and safety. The system uses a set of linguistic rules and triangular membership functions to process fuzzy input data. The simulation results demonstrate the stable behavior of the system and confirm the feasibility of using fuzzy approaches in controlling the movement of manipulators in variable conditions. The developed approach has high potential for implementation in robotic systems that operate in close proximity to a person. Development prospects include integration with machine learning and realtime use on embedded platforms.
dc.identifier.citation	Adaptive Regulation of the Manipulator's Movement Speed Depending on the Distance to the Person and the Level of Load on the Actuator / V. Yevsieiev, S. Maksymova, S. Starykova, Jafar Ababneh // The Multidisciplinary Journal of Science and Technologe. - Volume 5, Issue 9. - P. 9-29.
dc.identifier.issn	2582-4686
dc.identifier.uri	https://openarchive.nure.ua/handle/document/32840
dc.language.iso	en_US
dc.subject	Adaptive Control
dc.subject	Manipulator
dc.subject	Fuzzy Logic
dc.subject	Speed Of Movement,
dc.subject	Distance To A Person
dc.title	Adaptive Regulation of the Manipulator's Movement Speed Depending on the Distance to the Person and the Level of Load on the Actuator
dc.type	Article
dspace.entity.type	Publication