Robot manipulator path planning and obstacle avoidance using fuzzy logic controller
Dissertant
Thesis advisor
University
University of Technology
Faculty
-
Department
Department of Control and Systems Engineering
University Country
Iraq
Degree
Master
Degree Date
2013
English Abstract
Robot manipulator performs various tasks successfully applied in many fields such as industry.
In this work, more than one system using fuzzy logic is proposed.
This method deals with two problems: path planning and obstacle avoidance.
In the first problem, path planning is ordered locus of points in space which the manipulator should follow.
To solve this problem two algorithms were suggested, the first algorithm was joint space path planning and the second algorithm was Cartesian space path planning.
Both algorithms were applied in two links and three links robot manipulator in two dimensions and three dimensions environment.
The joint space path planning was easier than the Cartesian space path planning.
The results of Cartesian space path planning were less error in reaching the goal point, less number of program iterations and no oscillatory motion of robot end-effector has been observed or recorded near the goal point.
The second problem is obstacle avoidance which is a common problem in robotics.
To solve this problem, fuzzy logic was used for two link robot manipulator.
The proposed planning was to reach the goal point and to avoid the obstacles in local unknown environment.
Local navigation and obstacle avoidance is a necessary task when the path cannot be computed prior to the robot motion either because of unforeseeable changes in the environment or missing information about obstacle locations.
Robot manipulator successfully avoided the unknown obstacles using Fuzzy logic in the on-line, modeling results, and practical results.
Main Subjects
Engineering & Technology Sciences (Multidisciplinary)
Topics
American Psychological Association (APA)
Gorial, Ivan Isho. (2013). Robot manipulator path planning and obstacle avoidance using fuzzy logic controller. (Master's theses Theses and Dissertations Master). University of Technology, Iraq
https://search.emarefa.net/detail/BIM-418047
Modern Language Association (MLA)
Gorial, Ivan Isho. Robot manipulator path planning and obstacle avoidance using fuzzy logic controller. (Master's theses Theses and Dissertations Master). University of Technology. (2013).
https://search.emarefa.net/detail/BIM-418047
American Medical Association (AMA)
Gorial, Ivan Isho. (2013). Robot manipulator path planning and obstacle avoidance using fuzzy logic controller. (Master's theses Theses and Dissertations Master). University of Technology, Iraq
https://search.emarefa.net/detail/BIM-418047
Language
English
Data Type
Arab Theses
Record ID
BIM-418047
