Fuzzy behavior-based motion planning for the PUMA robot

P. Dassanayake, K. Watanabe, K. Kiguchi, K. Izumi

研究成果: Contribution to conferencePaper査読

6 被引用数 (Scopus)

抄録

A fuzzy behavior-based system, which acts 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 had been applied to a three-link manipulator in a previous work, 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.

本文言語英語
ページ1912-1917
ページ数6
出版ステータス出版済み - 12 1 2000
外部発表はい
イベント2000 IEEE/RSJ International Conference on Intelligent Robots and Systems - Takamatsu, 日本
継続期間: 10 31 200011 5 2000

その他

その他2000 IEEE/RSJ International Conference on Intelligent Robots and Systems
国/地域日本
CityTakamatsu
Period10/31/0011/5/00

All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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