Fuzzy and recurrent neural network motion control among dynamic obstacles for robot manipulators

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 30, Issue 2, 2001, Pages 155-177

  Mbede, Jean Bosco ^a   Wei, W U ^a   Zhang, Qisen ^b  

^a HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY   (China)

^b Changsha Commun Univ   (China)

Author keywords

[No Author keywords available]

Indexed keywords

COLLISION AVOIDANCE; FUZZY CONTROL; LYAPUNOV METHODS; MOTION CONTROL; RECURRENT NEURAL NETWORKS; ROBOTIC ARMS; SERVOMECHANISMS; SYSTEM STABILITY;

ELMAN NEURAL NETWORKS;

MANIPULATORS;

EID: 0034825629     PISSN: 09210296     EISSN: None     Source Type: Journal    
DOI: 10.1023/A:1008194912825     Document Type: Article

References (24)

1. Althöfer, K. and Fraser, D. A.: Fuzzy obstacle avoidance for robotic manipulators, Neural Network World 6(2) (1996), 133-142.
2. Althöfer, K., Seneviratne, I. D., Zavlangas, P., and Krekelberg, B.: Fuzzy navigation for robotic manipulators, Internat. J. Uncertainty, Fuzziness and Knowledge-based Systems 6(2) (1998), 179-188.
3. Berghuis, H.: Model-based robot control: From theory to practice, PhD Thesis, Department of Electrical Engineering, University of Twente, Enschede, The Netherlands, June 1993.
4. Cheng, G. and Zhang, D.: Back-driving a truck with suboptimal distance trajectories: A fuzzy logic control approach, IEEE Trans. Fuzzy Systems 5 (1997), 369-380.
5. Connolly, C. I.: Harmonic functions as a basis for motor control and planning, PhD Dissertation, Department of Computer Science, University of Massachusetts, Amherst, MA, USA, 1994.
6. Ding, H. and Li, H. X.: Fuzzy avoidance control strategy for redundant manipulators, Engrg. Applications of Artificial Intelligence 12 (1999), 513-521.
7. Khatib, O.: Real-time obstacle avoidance for manipulators and mobile robots, Internat. J. Robotics Res. 5 (1986), 90-98.
8. Kim, J.-O. and Khosla, P. K.: Real-time obstacle avoidance using harmonic potential functions, IEEE Trans. Robotics Automat. 8(3) (1992), 338-349.
9. Koditschek, D. E.: The control of natural motion in mechanical systems, J. Dyn. Systems Meas. Control 113 (1991), 547-551.
10. Koditschek, D. E.: Some applications of natural motion, J. Dyn. Systems Meas. Control 113 (1991), 552-557.
11. Lewis, F. L., Jagannathan, S., and Yesildirek, A.: Neural Network Control of Robot Manipulators and Nonlinear Systems, Taylor & Francis, London, 1999.
12. Mamdani, E. H. and Assilian, S.: Applications of fuzzy algorithms for control of simple dynamic plant, Proc. IEE 121 (1974), 1585-1588.
13. Mbede, J. B., Wei, W., Huang, X., and Wang, M.: Fuzzy sensor-based motion control among dynamic obstacles for intelligent rigid-link electrically driven arm manipulators, Revised for publication, in J. Intelligent Robotic Systems (2000).
14. Murray, R. M., Li, Z., and Sastry, S. S.: A Mathematical Introduction to Robotic Manipulation, CRC Press, Boca Raton, FL, 1994.
15. Pham, D. T. and Liu, X.: Identification of linear and nonlinear dynamic systems using recurrent neural networks, Artificial Intelligence Engrg. 8 (1993), 67-75.
16. Qu, Z. and Dawson, D. M.: Robust Tracking Control of Robot Manipulators, IEEE Press, New York, 1996.
17. Rimon, E. and Koditschek, D. E.: The construction of analytic diffeomorphisms for exact robot navigation on star worlds, in: Proc. of IEEE Conf. on Robotics Automation, 1989, pp. 21-26.
18. Rimon, E. and Koditschek, D. E.: Exact robot navigation using artificial potential functions, IEEE Trans. Robotics Automat. 8(5) (1992), 501-518.
19. Takagi, T. and Sugeno, M.: Fuzzy identification of systems and its applications to modeling and control, IEEE Trans. Systems Man Cybernet. 15(1) (1985), 116-132.
20. Tarn, T.-J., Bejczy, A. K., Yun, X., and Li, Z.: Effect of motor dynamics on nonlinear feedback robot arm control, IEEE Trans. Robotics Automat. 7(1) (1991), 114-122.
21. Tsoukalas, L. H., Houstis, E. N., and Jones, G. V.: Neuro-fuzzy motion planner for intelligent robots, J. Intelligent Robotic Systems 19 (1997), 339-356.
22. Volpe, R. and Khosla, P. K.: Manipulator control with superquadric artificial potential functions: Theory and experiments, IEEE Trans. Systems Man Cybernet. 20(6) (1990), 1423-1436.
23. Zavlangas, P., Tzafestas, S., and Althoefer, K.: Navigation for robotic manipulators employing fuzzy logic, in: Proc. of the 3rd World Conf. on Integrated Design and Process Technology, Vol. 6, Berlin, Germany, July 6-9, 1998, pp. 278-283.
24. Zhang, D., Chen, G., and Malki, H. A.: Fuzzy-logic control of multi-link flexible-joint robotic manipulators, Internat. J. Intelligent Control Systems 2(1) (1998), 111-138.