DocumentCode :
921653
Title :
Fuzzy behavior integration and action fusion for robotic excavation
Author :
Shi, Xiaobo ; Lever, Paul J A ; Wang, Fei-Yue
Author_Institution :
Adv. Min. Syst. Lab., Arizona Univ., Tucson, AZ, USA
Volume :
43
Issue :
3
fYear :
1996
fDate :
6/1/1996 12:00:00 AM
Firstpage :
395
Lastpage :
402
Abstract :
This paper discusses control behavior integration and bucket action fusion for excavation control of a robotic front-end-loader type machine. To utilize the experience and expertise from skilled human operators, a fuzzy-logic based control approach is developed. A hierarchical excavation control architecture decomposes excavation goals to tasks, then tasks to behaviors, and finally behaviors to actions. The excavation actions are primitive and can be executed directly by an excavation machine. Finite state machines are used to specify the coordination and integration of behaviors for task execution and actions for behavior implementation. A simple strategy for action fusion is proposed based on fuzzy logic reasoning and the COA defuzzification method. Finally, laboratory experiments are conducted using a PUMA 560 robot arm and a Zebra force/torque sensor in a simulated rock excavation environment. Experimental results indicate that the proposed approach in this paper has led to more efficient task execution than previous approaches
Keywords :
digital control; excavators; finite state machines; force control; fuzzy control; hierarchical systems; industrial control; industrial robots; sensor fusion; torque control; COA defuzzification method; PUMA 560 robot arm; Zebra force/torque sensor; action fusion; excavation actions; finite state machines; fuzzy control behavior integration; hierarchical control architecture; robotic excavation; skilled human operators; Automatic control; Control system synthesis; Fuzzy control; Geology; Humans; Laboratories; Robot control; Robot kinematics; Robot sensing systems; Robotics and automation;
fLanguage :
English
Journal_Title :
Industrial Electronics, IEEE Transactions on
Publisher :
ieee
ISSN :
0278-0046
Type :
jour
DOI :
10.1109/41.499812
Filename :
499812
Link To Document :
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