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The weights of elements in the pseudo-inverse are obtained using fuzzy rules that are related to the null-space velocity tracking error. With the pseudo-inverse, we develop a task space controller to track a desired task space trajectory and subtask control input. We propose a weighted subtask controller for multiple subtasks. The results of a simulation and experiment using a seven-degree-of-freedom whole arm manipulator robot show the effectiveness of the proposed controller with multiple subtasks.<\/jats:p>","DOI":"10.1017\/s0263574714000344","type":"journal-article","created":{"date-parts":[[2014,2,28]],"date-time":"2014-02-28T11:34:48Z","timestamp":1393587288000},"page":"295-313","source":"Crossref","is-referenced-by-count":4,"title":["Fuzzy weighted subtask controller for redundant manipulator"],"prefix":"10.1017","volume":"33","author":[{"given":"Young jun","family":"Yoo","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dae sung","family":"Jung","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yu jin","family":"Jang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sang chul","family":"Won","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,2,28]]},"reference":[{"key":"S0263574714000344_ref30","first-page":"571","article-title":"On the global convergence of univariate dynamic encoding algorithm for searches (uDEAS)","volume":"6","author":"Kim","year":"2008","journal-title":"Int. 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