Implementation and design of fuzzy supervisory controller for mobile robot manipulator

الملخص EN

The Mobile Manipulator Robot (MMR) has many applications in different aspects of the life, for example, grasping and transporting, mining, military, manufacturing, construction and others.

The benefits of MMR rise in dangerous place where the human cannot reach such as disaster areas and dangerous projects sites.

In this work, the PID controller is combined with Fuzzy Logic Controller (FLC) to structure the Fuzzy Supervisory Controller (FSC) to overcome the drawbacks of PID controller and to obtain the advantages of FLC.

Two approaches are suggested for the navigation of Autonomous Mobile Robot (AMR).

These are; goal reaching fuzzy control (GRFC) and the obstacle avoidance fuzzy control (OAFC).

The hardware implementation of the AMR is performed using AVR ATmega32 microcontroller, two DC motors, light dependent resistor (LDR) and five Infra Red sensors.

While, the Laboratory robot arm with some fabrications is used as manipulator arm with a five degrees-of-freedom.

Then a microcontroller is employed to implement the proposed controller for MMR.

The designed MMR is tested in real environments and give a good navigation.-