Fuzzy rule-based approach for robot motion control in the presence of obstacles

Author

Zhou, Jun ; Raju, G.V.S.

Author_Institution

Div. of Eng., Texas Univ., San Antonio, TX, USA

fYear

1993

fDate

17-20 Oct 1993

Firstpage

662

Abstract

In this paper, a fuzzy rule based approach for robot motion control has been proposed to eliminate the computational complexity of the inverse kinematics problem associated with the conventional mathematical algorithm and facilitate the control of redundant robots to avoid obstacles. Strategies for formulating the fuzzy rule sets for motion and obstacle avoidance have been proposed. A hierarchy is used in structuring the rules to reduce the number of rules needed for a complete fuzzy rule set. Simulations have shown that by consulting the fuzzy rule sets, a robot can follow the user specified trajectory

Keywords

computational complexity; fuzzy control; intelligent control; path planning; redundancy; robot kinematics; computational complexity; fuzzy rule based approach; fuzzy rule set; inverse kinematics problem; obstacle avoidance; redundant robots; robot motion control; user-specified trajectory; Automatic control; Automatic generation control; Control systems; Fuzzy control; Fuzzy logic; Fuzzy sets; Kinematics; Motion control; Robot control; Robot motion;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on

Conference_Location

Le Touquet

Print_ISBN

0-7803-0911-1

Type

conf

DOI

10.1109/ICSMC.1993.390791

Filename

390791