An approach to obstacle avoidance for redundant manipulator based on fuzzy logics

摘要

In this paper, an approach to obstacle avoidance for redundant manipulator based on fuzzy logics is presented, which can enhance the intelligence of the system by adjusting the parameters of the obstacle avoidance controller with fuzzy rulers and make the manipulator avoiding the obstacle more quickly than other methods. On the other hand, the robot control system use dynamics method instead of position to command manipulators performance, so the impact force between manipulators each other caused by velocity break can be reduced greatly, which improves manipulators' life. At last, simulation examples for a planar 3R redundant robot are presented to validate this method.