Fuzzy Sensor-based Motion Control among Dynamic Obstacles for Robot Manipulators

摘要

This paper focuses on motion planning and control of autonomous manipulators in dynamic and partially known environments, and with moving obstacles. The union of motion planning and control is used to propose an answer to the general problem of collision free motion generation. The navigation technique of robot control using artificial potential fields is based on fuzzy logic and stability is guaranteed by Lyapunov theory. The purpose of controller, which is designed as a fuzzy controller, is to generate the commands for the servo systems of the robot so as to choose autonomously its way to reach its goal while reacting in real time to unexpected events. In real time world systems, sensor based motion control becomes essential to deal with model uncertainties and unexpected obstacles.