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JRM Vol.11 No.6 pp. 502-509
doi: 10.20965/jrm.1999.p0502
(1999)

Paper:

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

Received:
May 10, 1999
Accepted:
August 20, 1999
Published:
December 20, 1999
Keywords:
manipulator, fuzzy control, behavior-based control system, obstacle avoidance, genetic algorithms
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.

Cite this article as:
Palitha Dassanayake, Keigo Watanabe, and Kiyotaka Izumi, “Fuzzy Behavior-Based Control for a Task of Three-Link Manipulator with Obstacle Avoidance,” J. Robot. Mechatron., Vol.11, No.6, pp. 502-509, 1999.
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