dc.contributor.author | Althoefer, K | |
dc.contributor.author | Seneviratne, LD | |
dc.contributor.author | Zavlangas, P | |
dc.contributor.author | Krekelberg, B | |
dc.date.accessioned | 2024-07-04T11:19:33Z | |
dc.date.available | 2024-07-04T11:19:33Z | |
dc.date.issued | 1998 | |
dc.identifier.issn | 0218-4885 | |
dc.identifier.uri | https://qmro.qmul.ac.uk/xmlui/handle/123456789/97837 | |
dc.description.abstract | This paper describes a novel navigation and obstacle avoidance system for robotic manipulators. The system is divided into separate fuzzy units which individually control the links of a manipulator. The rule base of each unit combines the repelling influence of obstacles with the attracting influence of the target position in a fuzzy way to generate actuating commands for the link. Owing to its simplicity and hence its short response time, the fuzzy navigator is especially suitable in on-line applications with strong real-time requirements. Furthermore, this approach allows obstacle avoidance in dynamic environments. The functioning of the fuzzy navigator with respect to robotic manipulators and results of real-world experiments are presented. | en_US |
dc.format.extent | 179 - 188 | |
dc.publisher | World Scientific Publishing Co Pte Ltd | en_US |
dc.relation.ispartof | INTERNATIONAL JOURNAL OF UNCERTAINTY FUZZINESS AND KNOWLEDGE-BASED SYSTEMS | |
dc.subject | fuzzy logic | en_US |
dc.subject | navigation | en_US |
dc.subject | obstacle avoidance | en_US |
dc.subject | robotic manipulators | en_US |
dc.title | Fuzzy navigation for robotic manipulators | en_US |
dc.type | Article | en_US |
dc.rights.holder | © 2024 World Scientific Publishing Co Pte Ltd | |
dc.identifier.doi | 10.1142/S0218488598000161 | |
pubs.author-url | https://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000073412100009&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=612ae0d773dcbdba3046f6df545e9f6a | en_US |
pubs.issue | 2 | en_US |
pubs.notes | Not known | en_US |
pubs.publication-status | Published | en_US |
pubs.volume | 6 | en_US |
rioxxterms.funder | Default funder | en_US |
rioxxterms.identifier.project | Default project | en_US |