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

摘要

Artificial intelligent robots use the subsumption architecture on an increasing level of competence behaviors in many applications due to the advantage of dividing the control system according to the task achieving behaviors. One important application 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 where the manipulators need to avoid obstacles and track a given path, and they involve inverse kinematic techniques in controlling the system. We study a manipulator reaching a target while avoiding obstacles based on a fuzzy behavior-based control approach. An additional element is also combined with the controller to compensate the gravitational effect. Simulations were carried out for 3 initial conditions and the results show that the fuzzy behavior approach is suitable for controlling manipulators.