Fuzzy behavior-based control for a task of three-link manipulator

Palitha Dassanayake, Keigo Watanabe, Kiyotaka Izumi

Research output: Contribution to journalConference article

6 Citations (Scopus)

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 languageEnglish
Pages (from-to)II-776 - II-781
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume2
Publication statusPublished - Dec 1 1999
Externally publishedYes
Event1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn
Duration: Oct 12 1999Oct 15 1999

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Hardware and Architecture

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