Intelligent control of technology operations for robot of service use with manipulator

摘要

Since 1992, we have been developing the intelligent mobile robot for service use mainly utilized in office building. It is a power wheeled steering type robot with a 5 degree of freedom (DOF) manipulator. It can move autonomously from one room to the others through different floors and buildings using elevators. In order to acheive such operations, the robot must conduct cooperative motions using the locomotive mechanisms and the manipulator. Then it is necessary to develop an intelligent position control system for the cooperative control. In this paper, we explain an intelligent navigation control using a fuzzy classifier system (FCS), GA and GB in continuous space (GAGS). Simulation and experimental results show that the proposed method is effective for technology operations of the service robot, as opening door, closing door and pushing elevator button.