Affiliations: Faculty of Engineering Systems and Technology,
Graduate School of Science and Engineering, Saga University, 1-Honjomachi, Saga
840-8502, Japan | Department of Advanced Systems Control Engineering,
Graduate School of Science and Engineering, Saga University, 1-Honjomachi, Saga
840-8502, Japan
Abstract: In this paper, the concept of fuzzy behavior-based control is used
to construct a fuzzy generator that generates the desired positions and
orientations of a robot manipulator in the Cartesian space. A servo controller
is introduced between the fuzzy trajectory generator and the robot. This method
is proposed to minimize the drawbacks in extending a fuzzy behavior-based
control used previously, while keeping the advantages of the fuzzy
behavior-based strategy. For the PUMA robot, the direct extended version of the
control system applied to a three-link manipulator in a previous work, is
compared with the proposed method. Two methods are first applied for two
behavior groups without any obstacle, in which fuzzy behavioral elements in
each method are trained by a genetic algorithm. It is proved that a desired
result is not possible within a few numbers of generations for the extended
method, whereas the proposed method is able to achieve good results. Moreover,
the proposed method is simulated to prove the benefit of the method for three
behavior groups with an obstacle. Therefore, it can be concluded that the
present approach is suitable in task control of high degree-of-freedom
multi-link manipulators while avoiding obstacles for manipulators similar to
PUMA robot.
