Title :
Avoiding joint limits and obstacles for kinematically redundant manipulators: a fuzzy-logic based approach
Author :
Ahson, Syed I. ; Sharkey, Noel E. ; Nicolas, Brument
Author_Institution :
Dept. of Comput. Eng., King Saud Univ., Riyadh, Saudi Arabia
Abstract :
A fuzzy-logic based method for avoiding joint limits and obstacles in kinematically redundant manipulators is presented. A comparison is made with the gradient projection method (GPM) for avoiding joint limits and obstacles. The fuzzy-logic based method automatically chooses an appropriate magnitude of self-motion using linguistic rules. The method is simple and is physically reliable. Its effectiveness has been demonstrated by computer simulation
Keywords :
fuzzy control; fuzzy logic; manipulator kinematics; redundancy; fuzzy-logic based approach; gradient projection method; joint limits avoidance; kinematically redundant manipulators; linguistic rules; obstacles avoidance; self-motion; Computer science; Computer simulation; Councils; End effectors; Jacobian matrices; Kinematics; Logic; Manipulators; Null space; Robotics and automation;
Conference_Titel :
Fuzzy Systems, 1996., Proceedings of the Fifth IEEE International Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-3645-3
DOI :
10.1109/FUZZY.1996.552639
