A fuzzy control application to the collision avoidance problem of a robot

퍼지 집합이론을 이용한 실린더형 로보트의 3차원 공간상에서의 충돌 회피 운동 계획 시스템

This paper investigates the possibility of applying fuzzy algorithms to the collision avoidance problem of a cylindrical robot moving in a 3-dimensional workspace. The displacement information from the end-effector to the points via which the robot can avoid collisions is given by the human operator. Then this uncertain information is adopted for the fuzzy inference system for robot movements. The robot movement is simulated to verify the effectiveness of the proposed fuzzy algorithm.