- All Journals
- Al-Qadisiyah University
- Basrah University
- Kirkuk University
- Mosul University
- The Iraqi Borad for Medical Specialization
- University of Anbar
- University of Technology
- Al Mustafa University
- Al-Zahraa University for Women
- Alnoor University
- Kunooz University
- Misan University
- Ninevah University
- Tikrit University
- University of Al-Hamdaniya
- University of Kerbala
Implementation and Design of Fuzzy Supervisory Controller for Mobile Robot Manipulator | ||
| Basrah Journal for Engineering Science | ||
| Article 1, Volume 16, Issue 1, 2016, Pages 1-7 PDF (0 K) | ||
| Authors | ||
| Ramzy S. Ali; Ammar A. Aldair; Ali K. Almousawi | ||
| Abstract | ||
| The Mobile Manipulator Robot (MMR) has many applications in different aspects of the life, for example, grasping and transporting, mining, military, manufacturing, construction, and others. The benefits of MMR rise in a dangerous place where the human cannot reach such as disaster areas and dangerous projects sites. In this work, the PID controller is combined with Fuzzy Logic Controller (FLC) to structure the Fuzzy Supervisory Controller (FSC) to overcome the drawbacks of PID controller and to obtain the advantages of FLC. Two approaches are suggested for the navigation of Autonomous Mobile Robot (AMR). These are; goal reaching fuzzy control (GRFC) and the obstacle avoidance fuzzy control (OAFC). The hardware implementation of the AMR is performed using AVR ATmega32 microcontroller, two DC motors, light dependent resistor (LDR) and five Infra Red sensors. While the Laboratory robot arm with some fabrications is used as manipulator's arm with a five degrees-of-freedom. Then a microcontroller is employed to implement the proposed controller for MMR. The designed MMR is tested in real environments and give a good navigation. | ||
| Keywords | ||
| Fuzzy Supervisory; Mobile Manipulator Robot | ||
|
Statistics Article View: 129 PDF Download: 22 |
||