マニピュレータの障害物自動回避へのファジィ推論の応用

概要

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Even the potential method, which seems to be most effective for automatic planning of the collision-free manipulator path among obstacles, uses transformation of real space coordinates of the obstacle to joint angle space, so the analyses become difficult or impossible when the manipulator degree of freedom becomes large. This paper proposes the application of fuzzy reasoning to enable handling of the coordinate of the obstacle in the real space coordinate without transformation to joint angle space in order to solve the above-mentioned difficulties, while basically adopting the potential method. Moreover, this proposal adds a great advantage in that much useful different dimensional information can be used for planning, offering a valuable method to further develop this problem. For example, in addition to the information about the deviation from the target and the proximity to the obstacles, the rate of change of these quantities can be included in the planning. This usefulness was confirmed by simulation.
一般社団法人日本機械学会の論文
1992-02-25