Fuzzy Behavior-Based Control for a Task of Three-Link Manipulator with Obstacle Avoidance
Palitha Dassanayake*, Keigo Watanabe** and Kiyotaka Izumi***
*Faculty of Engineering Systems and Technology, Graduate School of Science and Engineering
**Department of Advanced Systems Control Engineering
***Department of Mechanical Engineering, Faculty of Science and Engineering, Saga University, 1 Honjomachi, Saga 840-8502, Japan
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.
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