Robot manipulator task control with obstacle avoidance using fuzzy behavior-based strategy

Palitha Dassanayake, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi

Research output: Contribution to journalArticle

5 Citations (Scopus)

Abstract

In this paper, the concept of fuzzy behavior-based control is used to construct a fuzzy generator that generates the desired positions and orientations of a robot manipulator in the Cartesian space. A servo controller is introduced between the fuzzy trajectory generator and the robot. This method is proposed to minimize the drawbacks in extending a fuzzy behavior-based control used previously, while keeping the advantages of the fuzzy behavior-based strategy. For the PUMA robot, the direct extended version of the control system applied to a three-link manipulator in a previous work, is compared with the proposed method. Two methods are first applied for two behavior groups without any obstacle, in which fuzzy behavioral elements in each method are trained by a genetic algorithm. It is proved that a desired result is not possible within a few numbers of generations for the extended method, whereas the proposed method is able to achieve good results. Moreover, the proposed method is simulated to prove the benefit of the method for three behavior groups with an obstacle. Therefore, it can be concluded that the present approach is suitable in task control of high degree-of-freedom multi-link manipulators while avoiding obstacles for manipulators similar to PUMA robot.

Original languageEnglish
Pages (from-to)139-158
Number of pages20
JournalJournal of Intelligent and Fuzzy Systems
Volume10
Issue number3-4
Publication statusPublished - 2001
Externally publishedYes

Fingerprint

Robot Manipulator
Obstacle Avoidance
Collision avoidance
Manipulators
Robots
Manipulator
Robot
Genetic algorithms
Trajectories
Generator
Control systems
Controllers
Strategy
Cartesian
Degree of freedom
Control System
Genetic Algorithm
Trajectory
Minimise
Controller

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Systems Engineering

Cite this

Robot manipulator task control with obstacle avoidance using fuzzy behavior-based strategy. / Dassanayake, Palitha; Watanabe, Keigo; Kiguchi, Kazuo; Izumi, Kiyotaka.

In: Journal of Intelligent and Fuzzy Systems, Vol. 10, No. 3-4, 2001, p. 139-158.

Research output: Contribution to journalArticle

Dassanayake, Palitha ; Watanabe, Keigo ; Kiguchi, Kazuo ; Izumi, Kiyotaka. / Robot manipulator task control with obstacle avoidance using fuzzy behavior-based strategy. In: Journal of Intelligent and Fuzzy Systems. 2001 ; Vol. 10, No. 3-4. pp. 139-158.
@article{d7f9d304b5e14108b2a39ddf076807ea,
title = "Robot manipulator task control with obstacle avoidance using fuzzy behavior-based strategy",
abstract = "In this paper, the concept of fuzzy behavior-based control is used to construct a fuzzy generator that generates the desired positions and orientations of a robot manipulator in the Cartesian space. A servo controller is introduced between the fuzzy trajectory generator and the robot. This method is proposed to minimize the drawbacks in extending a fuzzy behavior-based control used previously, while keeping the advantages of the fuzzy behavior-based strategy. For the PUMA robot, the direct extended version of the control system applied to a three-link manipulator in a previous work, is compared with the proposed method. Two methods are first applied for two behavior groups without any obstacle, in which fuzzy behavioral elements in each method are trained by a genetic algorithm. It is proved that a desired result is not possible within a few numbers of generations for the extended method, whereas the proposed method is able to achieve good results. Moreover, the proposed method is simulated to prove the benefit of the method for three behavior groups with an obstacle. Therefore, it can be concluded that the present approach is suitable in task control of high degree-of-freedom multi-link manipulators while avoiding obstacles for manipulators similar to PUMA robot.",
author = "Palitha Dassanayake and Keigo Watanabe and Kazuo Kiguchi and Kiyotaka Izumi",
year = "2001",
language = "English",
volume = "10",
pages = "139--158",
journal = "Journal of Intelligent and Fuzzy Systems",
issn = "1064-1246",
publisher = "IOS Press",
number = "3-4",

}

TY - JOUR

T1 - Robot manipulator task control with obstacle avoidance using fuzzy behavior-based strategy

AU - Dassanayake, Palitha

AU - Watanabe, Keigo

AU - Kiguchi, Kazuo

AU - Izumi, Kiyotaka

PY - 2001

Y1 - 2001

N2 - In this paper, the concept of fuzzy behavior-based control is used to construct a fuzzy generator that generates the desired positions and orientations of a robot manipulator in the Cartesian space. A servo controller is introduced between the fuzzy trajectory generator and the robot. This method is proposed to minimize the drawbacks in extending a fuzzy behavior-based control used previously, while keeping the advantages of the fuzzy behavior-based strategy. For the PUMA robot, the direct extended version of the control system applied to a three-link manipulator in a previous work, is compared with the proposed method. Two methods are first applied for two behavior groups without any obstacle, in which fuzzy behavioral elements in each method are trained by a genetic algorithm. It is proved that a desired result is not possible within a few numbers of generations for the extended method, whereas the proposed method is able to achieve good results. Moreover, the proposed method is simulated to prove the benefit of the method for three behavior groups with an obstacle. Therefore, it can be concluded that the present approach is suitable in task control of high degree-of-freedom multi-link manipulators while avoiding obstacles for manipulators similar to PUMA robot.

AB - In this paper, the concept of fuzzy behavior-based control is used to construct a fuzzy generator that generates the desired positions and orientations of a robot manipulator in the Cartesian space. A servo controller is introduced between the fuzzy trajectory generator and the robot. This method is proposed to minimize the drawbacks in extending a fuzzy behavior-based control used previously, while keeping the advantages of the fuzzy behavior-based strategy. For the PUMA robot, the direct extended version of the control system applied to a three-link manipulator in a previous work, is compared with the proposed method. Two methods are first applied for two behavior groups without any obstacle, in which fuzzy behavioral elements in each method are trained by a genetic algorithm. It is proved that a desired result is not possible within a few numbers of generations for the extended method, whereas the proposed method is able to achieve good results. Moreover, the proposed method is simulated to prove the benefit of the method for three behavior groups with an obstacle. Therefore, it can be concluded that the present approach is suitable in task control of high degree-of-freedom multi-link manipulators while avoiding obstacles for manipulators similar to PUMA robot.

UR - http://www.scopus.com/inward/record.url?scp=0035736822&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0035736822&partnerID=8YFLogxK

M3 - Article

AN - SCOPUS:0035736822

VL - 10

SP - 139

EP - 158

JO - Journal of Intelligent and Fuzzy Systems

JF - Journal of Intelligent and Fuzzy Systems

SN - 1064-1246

IS - 3-4

ER -