Authors
Abstract
Abstract –This paper focuses on the comparison of two proposed fuzzy logic-based
path planning systems for a 2-DOF robot manipulator. The first system is joint space
path planning and the second system is Cartesian space path planning. The proposed
planning systems were composed of several separate fuzzy units which individually
control each manipulator joint. For the 1st system, the main inputs of the two fuzzy
blocks were the current joint position and the difference in joint angle between the goal
and the current positions. For the 2ndsystem the main inputs were the new x-axis error
and the current x-axis value of the robot end-effector for the first fuzzy bock, and the
new y-axis error and the current y-axis value of the robot end-effector for the second
fuzzy block.The objectives were to move the arm from the start configuration to the
goal configuration. The comparison of the simulation results shows clearly that the
results of the second system is better and the robot reached the goal configuration in the
two cases successfully with relatively small error in the order of (0.00041775 m in xaxis;
and
Keywords
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