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Implementation and design of fuzzy supervisory controller for mobile robot manipulator
Joint Authors
al-Musawi, Ali K.
Ali, Ramzi S.
al-Dair, Ammar A.
Source
Basrah Journal for Engineering Sciences
Issue
Vol. 16, Issue 1 (30 Jun. 2016), pp.1-7, 7 p.
Publisher
University of Basrah College of Engineering
Publication Date
2016-06-30
Country of Publication
Iraq
No. of Pages
7
Main Subjects
Information Technology and Computer Science
Abstract 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.-
American Psychological Association (APA)
Ali, Ramzi S.& al-Dair, Ammar A.& al-Musawi, Ali K.. 2016. Implementation and design of fuzzy supervisory controller for mobile robot manipulator. Basrah Journal for Engineering Sciences،Vol. 16, no. 1, pp.1-7.
https://search.emarefa.net/detail/BIM-724368
Modern Language Association (MLA)
Ali, Ramzi S.…[et al.]. Implementation and design of fuzzy supervisory controller for mobile robot manipulator. Basrah Journal for Engineering Sciences Vol. 16, no. 1 (2016), pp.1-7.
https://search.emarefa.net/detail/BIM-724368
American Medical Association (AMA)
Ali, Ramzi S.& al-Dair, Ammar A.& al-Musawi, Ali K.. Implementation and design of fuzzy supervisory controller for mobile robot manipulator. Basrah Journal for Engineering Sciences. 2016. Vol. 16, no. 1, pp.1-7.
https://search.emarefa.net/detail/BIM-724368
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 7
Record ID
BIM-724368