Fuzzy Behavior-Based Control for a Task of Three-Link Manipulator with Obstacle Avoidance
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Published:1999-12-20
Issue:6
Volume:11
Page:502-509
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ISSN:1883-8049
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Container-title:Journal of Robotics and Mechatronics
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language:en
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Short-container-title:J. Robot. Mechatron.
Author:
Dassanayake Palitha, ,Watanabe Keigo,Izumi Kiyotaka, ,
Abstract
Our objective is for a 3-link manipulator to reach a target while avoiding obstacles with online information using a fuzzy-behavior-based control approach. Control applied to mobile robots elsewhere is modified to suit to the manipulator. Fuzzy behavior elements are trained using a genetic algorithm. A component apart from the basic concept is introduced to overcome gravitation. Result shows the manipulator reaches the target with an acceptable solution for 3 simulations, so the proposed approach is suitable to multilink manipulator task control.
Publisher
Fuji Technology Press Ltd.
Subject
Electrical and Electronic Engineering,General Computer Science
Cited by
1 articles.
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