A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
A Robot Manipulator with Adaptive Fuzzy Controller in Obstacle Avoidance
Abstract Building robots and machines to act within a fuzzy environment is a problem featuring complexity and ambiguity. In order to avoid obstacles, or move away from it, the robot has to perform functions such as obstacle identification, finding the location of the obstacle, its velocity, direction of movement, size, shape, and so on. This paper presents about the design, and implementation of an adaptive fuzzy controller designed for a 3 degree of freedom spherical coordinate robotic manipulator interfaced with a microcontroller and an ultrasonic sensor. Distance between the obstacle and the sensor and its time rate are considered as inputs to the controller and how the manipulator to take diversion from its planned trajectory, in order to avoid collision with the obstacle, is treated as output from the controller. The obstacles are identified as stationary or moving objects and accordingly adaptive self tuning is accomplished with three set of linguistic rules. The prototype of the manipulator has been fabricated and tested for collision avoidance by placing stationary and moving obstacles in its planned trajectory. The performance of the adaptive control algorithm is analyzed in MATLAB by generating 3D fuzzy control surfaces.
A Robot Manipulator with Adaptive Fuzzy Controller in Obstacle Avoidance
Abstract Building robots and machines to act within a fuzzy environment is a problem featuring complexity and ambiguity. In order to avoid obstacles, or move away from it, the robot has to perform functions such as obstacle identification, finding the location of the obstacle, its velocity, direction of movement, size, shape, and so on. This paper presents about the design, and implementation of an adaptive fuzzy controller designed for a 3 degree of freedom spherical coordinate robotic manipulator interfaced with a microcontroller and an ultrasonic sensor. Distance between the obstacle and the sensor and its time rate are considered as inputs to the controller and how the manipulator to take diversion from its planned trajectory, in order to avoid collision with the obstacle, is treated as output from the controller. The obstacles are identified as stationary or moving objects and accordingly adaptive self tuning is accomplished with three set of linguistic rules. The prototype of the manipulator has been fabricated and tested for collision avoidance by placing stationary and moving obstacles in its planned trajectory. The performance of the adaptive control algorithm is analyzed in MATLAB by generating 3D fuzzy control surfaces.
A Robot Manipulator with Adaptive Fuzzy Controller in Obstacle Avoidance
Sreekumar, Muthuswamy (author)
Journal of The Institution of Engineers (India): Series C ; 97 ; 469-478
2016-03-03
10 pages
Article (Journal)
Electronic Resource
English
A Robot Manipulator with Adaptive Fuzzy Controller in Obstacle Avoidance
| Online Contents | 2016
Fuzzy Control of Humanoid Robot for Obstacle Avoidance
| British Library Online Contents | 2008
Intelligent visual obstacle avoidance road renovation robot
| European Patent Office | 2020
Design and Implementation of Vision-Based Fuzzy Obstacle Avoidance Method on Humanoid Robot
| British Library Online Contents | 2011
Fuzzy logic-based synchronization of trajectory planning and obstacle avoidance for RRP SCARA robot
| Springer Verlag | 2025