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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, 1999Accepted:August 20, 1999Published: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:P. Dassanayake, K. Watanabe, and K. 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.Data files:
Copyright© 1999 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.
