Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지

An Obstacle-Avoidance Algorithm for a Redundant Robot Arm Using Fuzzy Control and Performance-Function Optimization

퍼지제어와 성능함수 최적화를 이용한 여유자유도 로봇 팔의 장애물 우회 알고리즘

  • Lee, Byung-Ryong (Dept.of Mechanical Engineering, University of Ulsan) ;
  • Hwang, Jae-Suk (Dept.of Mechanical Engineering, Graduate School of University of Ulsan) ;
  • Park, Chan-Ho (Dept.of Mechanical Engineering, Graduate School of University of Ulsan) ;
  • Yang, Soon-Yong (Dept.of Mechanical Engineering, Graduate School of University of Ulsan) ;
  • Ahn, Kyung-Kwan (Dept.of Mechanical Engineering, University of Ulsan)
  • 이병룡 (울산대학교 기계공학과) ;
  • 황재석 (울산대학교 대학원 기계공학과) ;
  • 박찬호 (울산대학교 대학원 기계공학과) ;
  • 양순용 (울산대학교 대학원 기계공학과) ;
  • 안경관 (울산대학교 기계공학과)
  • Published : 2002.04.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, a motion control algorithm is developed using a fuzzy control and the optimization of performance function, which makes a robot arm avoid an unexpected obstacle when the end-effector of the robot arm is moving to the goal position. During talc motion, if there exists no obstacle, the end-effector of the robot arm moves along the predefined path. But if these exists an obstacle and close to talc robot arm, the fuzzy motion controller is activated to adjust the path of the end-effector of the robot arm. Then, the robot arm takes the optimal posture far collision avoidance with the obstacle. To show the feasibility of the developed algorithm, numerical simulations are carried out with changing both the positions and sites of obstacles. It was concluded that the proposed algorithm gives a good performance for obstacle avoidance.

Keywords

References

  1. T.Lozaano-Perez, 'Spatial Planning: a Configuration Space Approach,' IEEE TRans. Comp, pp. 108-120, 1983 https://doi.org/10.1109/TC.1983.1676196
  2. T.Lozano-Perez, 'A Simple Motion-Planning Algorithm for General Robot Manipulators,' IEEE Journal of Robotics and Automation, Vol. 3, No. 3, pp. 224-238, 1987 https://doi.org/10.1109/JRA.1987.1087095
  3. O.Khatib, 'Real-Time Obstacle Avoidance for Manipulators and Mobile Robots,' Int. J. of Robotic Research, Vol. 5, No. 1, pp. 90-98, 1986 https://doi.org/10.1177/027836498600500106
  4. J.Barraguang and J.C.Latombe, 'Robot Motion Planning: A Distributed Representation Approach,' Int. J. of Robotics Research, Vol. 10, No. 6, pp. 628-649, 1991 https://doi.org/10.1177/027836499101000604
  5. 이병룡, '포텐셜함수를 이용한 자율주행 로봇들간의 충돌예방을 위한 주행제어 알고리즘의 개발,' 한국정밀공학회, 제 15 권, 제 6 호, pp. 107-115, 1998
  6. G.V.S.Raju and J.Zhou, 'Fuzzy Rule Based Approach for Robot Motion Control,' IEEE Int. Conf. on Fuzzy Systems, pp. 1349-1356, 1992 https://doi.org/10.1109/FUZZY.1992.258693
  7. A. Nedungadi, 'A Fuzzy Robot Controller-Hardware Implementation,' IEEE Int. Conf. On Fuzzy Systems, pp. 1325-1331, 1992 https://doi.org/10.1109/FUZZY.1992.258689
  8. N.Chen and H. Chung, 'Robot Path Planner: A Neural Networks Approach,' IEEE/RSJ Int. Conf. On Intelligent Robots and Systems, Vol. 1, pp. 548-553, 1992 https://doi.org/10.1109/IROS.1992.587388
  9. A.Bagachi and H.Hatwal, 'A Solution Strategy for Collision Avoidance of Multiple Bodies Moving on a Plane Using Fuzzy Logic,' Proc. Int. Sys. Intelligent Robotics, Jan. 1991
  10. 신현배, 이병룡, '다관절 지능 로봇시스템을 위한 장애물 우회 연구,' 한국정밀공학회, 제 15 권 8 호, pp. 165-173, 1998
  11. L.Wang, 'Adaptive Fuzzy Systems and Control,' Prentice Hall
  12. Yoshikawa T., 'Analysis and Control of Robot Manipulator with Redundancy,' Robotics Research: 1st Int. Sym. MIT Press, pp. 735-747, 1984