Avoiding joint limits and obstacles for kinematically redundant manipulators: a fuzzy-logic based approach

Avoiding joint limits and obstacles for kinematically redundant manipulators: a fuzzy-logic based approach

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...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Ahson, S.I., Sharkey, N.E., Nicolas, B.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Computer science
Computer simulation
Councils
End effectors
Jacobian matrices
Kinematics
Logic
Manipulators
Null space
Robotics and automation
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Beschreibung
Zusammenfassung: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.
DOI:10.1109/FUZZY.1996.552639