Abstract
Artificial intelligent robots use the subsumption architecture on increasing level of competence behaviors in many applications due to the advantage of dividing the control system according to the task achieving behaviors over the conventional method in which the division is based on functions. One important application conducted for a mobile robot is to reach a target while avoiding obstacles based on fuzzy behavior-based control. Apart from the behavior-based approach, there are other applications done for the manipulators to avoid obstacles and tracking a given path, and they involve the inverse kinematic techniques in controlling the system. Therefore in this work, it is studied for a manipulator to reach a target while avoiding obstacles based on fuzzy behavior based control approach. An additional element is also combined to the controller to compensate the gravitational effect. Simulations were carried out for 3 initial conditions and the results show that fuzzy behavior approach is suitable in controlling manipulators.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the IEEE International Conference on Systems, Man and Cybernetics |
| Publisher | IEEE |
| Volume | 2 |
| Publication status | Published - 1999 |
| Externally published | Yes |
| Event | 1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn Duration: Oct 12 1999 → Oct 15 1999 |
Other
| Other | 1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' |
|---|---|
| City | Tokyo, Jpn |
| Period | 10/12/99 → 10/15/99 |
Fingerprint
ASJC Scopus subject areas
- Hardware and Architecture
- Control and Systems Engineering
Cite this
Fuzzy behavior-based control for a task of three-link manipulator. / Dassanayake, Palitha; Watanabe, Keigo; Izumi, Kiyotaka.
Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. Vol. 2 IEEE, 1999.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Fuzzy behavior-based control for a task of three-link manipulator
AU - Dassanayake, Palitha
AU - Watanabe, Keigo
AU - Izumi, Kiyotaka
PY - 1999
Y1 - 1999
N2 - Artificial intelligent robots use the subsumption architecture on increasing level of competence behaviors in many applications due to the advantage of dividing the control system according to the task achieving behaviors over the conventional method in which the division is based on functions. One important application conducted for a mobile robot is to reach a target while avoiding obstacles based on fuzzy behavior-based control. Apart from the behavior-based approach, there are other applications done for the manipulators to avoid obstacles and tracking a given path, and they involve the inverse kinematic techniques in controlling the system. Therefore in this work, it is studied for a manipulator to reach a target while avoiding obstacles based on fuzzy behavior based control approach. An additional element is also combined to the controller to compensate the gravitational effect. Simulations were carried out for 3 initial conditions and the results show that fuzzy behavior approach is suitable in controlling manipulators.
AB - Artificial intelligent robots use the subsumption architecture on increasing level of competence behaviors in many applications due to the advantage of dividing the control system according to the task achieving behaviors over the conventional method in which the division is based on functions. One important application conducted for a mobile robot is to reach a target while avoiding obstacles based on fuzzy behavior-based control. Apart from the behavior-based approach, there are other applications done for the manipulators to avoid obstacles and tracking a given path, and they involve the inverse kinematic techniques in controlling the system. Therefore in this work, it is studied for a manipulator to reach a target while avoiding obstacles based on fuzzy behavior based control approach. An additional element is also combined to the controller to compensate the gravitational effect. Simulations were carried out for 3 initial conditions and the results show that fuzzy behavior approach is suitable in controlling manipulators.
UR - http://www.scopus.com/inward/record.url?scp=0033313073&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0033313073&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0033313073
VL - 2
BT - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics
PB - IEEE
ER -