Fuzzy behavior-based motion planning for the PUMA robot

Author

Dassanayake, Palitha ; Watanabe, Keigo ; Kiguchi, Kazuo ; Izumi, Kiyotaka

Author_Institution

Graduate Sch. of Sci. & Eng., Saga Univ., Japan

Volume

3

fYear

2000

fDate

2000

Firstpage

1912

Abstract

A fuzzy behavior-based system, which act as a planning system, is realized for the task control of a six-degree of freedom PUMA robot manipulator. A fuzzy behavior control system that was applied to a three-link manipulator by Dassanayake et al. (1999) is modified as a planning system for the PUMA robot. Fuzzy behavior elements are trained by a genetic algorithm. This has been conducted for three behavior groups namely objective behavior group, free behavior group and reactive behavior group. Simulation has been carried out for the PUMA robot to reach a target from a given point while avoiding an obstacle. Result shows that the fuzzy behavior based approach can be applied to plan the manipulator´s joint angles and angular velocities to reach a particular point while avoiding obstacles

Keywords

fuzzy control; genetic algorithms; manipulators; optimal control; path planning; 6-DOF PUMA robot manipulator; GA; angular velocity planning; free behavior group; fuzzy behavior control system; fuzzy behavior-based motion planning; genetic algorithm; joint angle planning; objective behavior group; obstacle avoidance; planning system; reactive behavior group; three-link manipulator; Angular velocity; Angular velocity control; Control systems; Fuzzy control; Fuzzy systems; Genetic algorithms; Manipulators; Motion planning; Orbital robotics; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on

Conference_Location

Takamatsu

Print_ISBN

0-7803-6348-5

Type

conf

DOI

10.1109/IROS.2000.895250

Filename

895250