Kurt Haeusler,
"Enhanced Fuzzy Algorithms for Robot Control with Collision
Avoidance"
, 9-1996, K. Haeusler. Enhanced Fuzzy Algorithms for Robot Control with Collision
Avoidance. Master's thesis, Johannes Kepler University, September 1996.
Original Titel:
Enhanced Fuzzy Algorithms for Robot Control with Collision
Avoidance
Sprache des Titels:
Englisch
Englische Kurzfassung:
This thesis deals with fuzzy algorithms for robot control
with collision avoidance. The work builds on and extends
the PhD thesis of V. Khachatouri, who introduced a new
framework for the incorporation of human expertise into
robots with fuzzy algorithms. He suggested a new iterative
method for the solution of the inverse kinematic problem
of redundant robots and a control architecture with
enables the combination of different elementary behaviors.
For a three-link planar manipulator he derived the
algorithms for the inverse kinematics with local collision
avoidance.
The present thesis contains the following innovations:
1. The collision avoidance strategy is combined with a
strategy for joint limit avoidance.
2. The controller architecture is revised and the rule
base is clearly arranged and easy to survey.
3. Some important features are added to the existing
capabilities, e.g., grasping around an obstacle.
4. The two-dimensional distance calculation needed for
the three-link planar robot is generalized to the
three-dimensional case.
5. First investigations in the field of
three-dimensional collision avoidance by the above
mentioned algorithms are done by adding a fourth
degree of freedom to the three-link planar robot
kinematic.
Furthermore, in order to verify these theoretical results
the visualization tool RoboVista from INFA is revised to
become a comfortable testing platform for robot control
algorithms. This tool offers three-dimensional
visualization of free definable robot kinematics and
various obstacles and is designed to substitute a former
two-dimensional visualization also developed by INFA.
Finally, to get away from the simulation level, a small
three-link manipulator is built, and the performance of
the proposed algorithms is tested in real-time.
Erscheinungsmonat:
9
Erscheinungsjahr:
1996
Notiz zum Zitat:
K. Haeusler. Enhanced Fuzzy Algorithms for Robot Control with Collision
Avoidance. Master's thesis, Johannes Kepler University, September 1996.
Forschungs-