대한전기학회논문지 (The Transactions of the Korean Institute of Electrical Engineers)
- 제41권5호
- /
- Pages.551-561
- /
- 1992
- /
- 0254-4172(pISSN)
장애물이 있는 환경하에서 여유자유도 로보트의 지능제어 방법
Intelligent Control of Redundant Manipulator in an Environment with Obstacles
초록
A neural optimization network and fuzzy rules are proposed to control the redundant robot manipulators in an environment with obstacle. A neural optimization network is employed to solve the optimization problem for resolved motion control of redundant robot manipulators in an environment with obstacle. The fuzzy rules are proposed to determine the weights of neural optimization networks to avoid the collision between robot manipulators and obstacle. The inputs of fuzzy rules are the resultant distance and change of the distance and sum of the changes by differential motion of each joint. And the output of fuzzy rules is defined as the capability of collision avoidance of joint differential motion. The weightings of neural optimization networks are adjusted according to the capability of collision aboidance of each joint. To show the validities of the proposed method, computer simulation results are illustrated for the redundant robot of the planar type with three degrees of freedom.
키워드