Title :
Intelligent control of redundant manipulators in an environment with obstacle
Author :
Hyun, Woong Keun ; Suh, II Hong ; Kim, Kyong Gi
Author_Institution :
Dept. of Electron. Eng., Hanyang Univ., Seoul, South Korea
Abstract :
A neural optimization network is proposed to control redundant robot manipulators in an environment with obstacles. The weightings of the network are adjusted by considering both the joint dexterity and the capability of collision avoidance of joint differential motion. The fuzzy rules are proposed to determine the capability of collision avoidance of each joint. To show the validities of the proposed method, computer simulation results are illustrated for a 3-d.o.f planar redundant robot
Keywords :
neural nets; redundancy; robots; 3-d.o.f planar redundant robot; collision avoidance; fuzzy rules; intelligent control; joint dexterity; joint differential motion; neural optimization network; redundant manipulators; Collision avoidance; Computational complexity; Computer simulation; Fuzzy neural networks; Intelligent control; Intelligent networks; Intelligent robots; Manipulators; Neural networks; Robot control;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174443
