Fuzzy Logic Control of a Robotic Manipulator for Obstacles Avoidance

作     者：Nabeel Kadim Abid Al-Sahib Israa Rafie Shareef 

作者机构：Mechatronics Engineering Dept. Al-Khawarizmi College of Engineering University of Baghdad Baghdad 10001 Iraq 

出 版 物：《Journal of Mechanics Engineering and Automation》 (机械工程与自动化（英文版）)

年 卷 期：2012年第2卷第1期

页      面：9-16页

学科分类：08[工学] 080202[工学-机械电子工程] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0835[工学-软件工程] 080201[工学-机械制造及其自动化] 

主　　题：Robotic manipulator fuzzy logic controller obstacles avoidance. 

摘      要：This work presents a Fuzzy Logic Controller （FLC） assigned to control a robotic arm motion while avoiding the obstacles that may face the robotic arm in its movement from the initial point to the final point in an optimized manner, in addition to avoid the singularity phenomenon, and without any exceeding of the physical constraints of the robot arm. A real platform （5 DOF ＂Degree Of Freedom＂ Lab Volt 5150 Robotic Arm） is used to carry this work practically, in addition to providing it by a vision sensor, where a new approach is proposed to inspect the robot work environment using a designed integrated MATLAB program having the ability to recognize the changeable locations of each of the robotic arm＇s end-effector, the goal, and the multi existed obstacles through a recorded film taken by a webcam, then these information will be treated using the FLC where its outputs represent the values that must be delivered to the robot to adopt them in its next steps till reaching to the goal in collision-free movements. The experimental results showed that the developed robotic ann travels successfully from Start to Goal where a high percentage of accuracy in arriving to Goal was achieved, and without colliding with any obstacle ensuring the harmonization between the theoretical part and the experimental part in achieving the best results of controlling the robotic arm＇s motion.