Thu Rain (postgraduate student, Kursk state university)
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This paper addresses the development and application of fuzzy-based control technique to plan trajectories of a robotic manipulator collision-free in static environments. The proposed technique can be seen as a composition of separate fuzzy units, which steer the manipulator links individually. Each fuzzy-unit comprises a fuzzy-controller whose rule base is set up to exert impelling forces which depend on the local environment of the link. The fuzzy-based technique has been successfully applied to constructed manipulator operating in real as well as simulated environments. The technique has been proved to work without complications in static environments.
Keywords:fuzzy logic, obstacle avoidance, fuzzy controller, intelligent control system, manipulator.
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Citation link: Thu R. Fuzzy-based control of robot manipulator // Современная наука: актуальные проблемы теории и практики. Серия: Естественные и Технические Науки. -2018. -№01. -С. 61-67 |
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