Award Date

1-1-1999

Degree Type

Thesis

Degree Name

Master of Science (MS)

Department

Mechanical Engineering

First Committee Member

Mohamed Trabia

Number of Pages

103

Abstract

A new method to solve the trajectory generation for a redundant manipulator is proposed. It avoids traditional computationally intensive methods by relying on the human experience; The proposed method uses a fuzzy logic controller to generate the magnitude of the angles needed to move the end effector to the next target point. The inputs to the controller are the desired displacement of the end effector and the elements of the jacobian matrix that correspond to the considered joint, while the output is the angle magnitude of the joint needed to reach the target point; An algorithm is used to determine the sign of the output from the fuzzy logic controller. Inverse kinematics is used to bring the end-effector to the target point; Several fuzzy logic controllers combined with heuristic algorithms are used to avoid the obstacles in the workspace and to avoid self collision of the links.

Keywords

Approach; Heuristic; Path; Planning; Redundant; Robots

Controlled Subject

Mechanical engineering; Artificial intelligence

File Format

pdf

File Size

2211.84 KB

Degree Grantor

University of Nevada, Las Vegas

Language

English

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