Development of a general manipulator path planner using fuzzy reasoning
Purpose - Aim for efficient motion planning of industrial robot with high degree of freedoms in both static and dynamic environments. Design/methodology/approach - A multi-agent based general path planner for serial manipulator is proposed in this work. A hierarchical structure developed based on fu...
Ausführliche Beschreibung
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Englisch |
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2005 |
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11 |
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Emerald Fulltext Archive Database 1994-2005 |
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| Übergeordnetes Werk: |
In: Industrial robot - Bradford : MCB Univ. Press, 1973, 32(2005), 3, Seite 248-258 |
| Übergeordnetes Werk: |
volume:32 ; year:2005 ; number:3 ; pages:248-258 ; extent:11 |
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10.1108/01439910510593947 |
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NLEJ219679673 |
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| 520 | |a Purpose - Aim for efficient motion planning of industrial robot with high degree of freedoms in both static and dynamic environments. Design/methodology/approach - A multi-agent based general path planner for serial manipulator is proposed in this work. A hierarchical structure developed based on fuzzy reasoning is employed in the planner. The high level in the hierarchical structure is designed to dynamically assign each link an appropriate behaviour and the low level is designed to determine the joint speed according to the behaviours assigned by the high level. Findings - Combination of multi-agent concept and fuzzy reasoning approach can obtain both flexibility and efficiency in motion planning of serial manipulator with high degree of freedoms. Research limitations/implications - Multiple local minima problem occurred in complex manipulation scenario has not yet been considered. Practical implications - Applicable for real time motion planning of serial industrial robots with high degrees of freedom in 3D space. Originality/value - In this research work, we make use of the of multi-agent plus fuzzy logic concept to design a novel manipulator motion path planner, in particular, we introduce a novel mechanism into the fuzzy logic algorithm with the "back-tracking" ability to avoid the local minima problem.The proposed motion planner has advantages on low computational cost, the suitability for real time path planning in 3D space and the capability to escape simple local minima. | ||
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10.1108/01439910510593947 doi (DE-627)NLEJ219679673 DE-627 ger DE-627 rakwb eng XA-GB Development of a general manipulator path planner using fuzzy reasoning 2005 11 nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier Purpose - Aim for efficient motion planning of industrial robot with high degree of freedoms in both static and dynamic environments. Design/methodology/approach - A multi-agent based general path planner for serial manipulator is proposed in this work. A hierarchical structure developed based on fuzzy reasoning is employed in the planner. The high level in the hierarchical structure is designed to dynamically assign each link an appropriate behaviour and the low level is designed to determine the joint speed according to the behaviours assigned by the high level. Findings - Combination of multi-agent concept and fuzzy reasoning approach can obtain both flexibility and efficiency in motion planning of serial manipulator with high degree of freedoms. Research limitations/implications - Multiple local minima problem occurred in complex manipulation scenario has not yet been considered. Practical implications - Applicable for real time motion planning of serial industrial robots with high degrees of freedom in 3D space. Originality/value - In this research work, we make use of the of multi-agent plus fuzzy logic concept to design a novel manipulator motion path planner, in particular, we introduce a novel mechanism into the fuzzy logic algorithm with the "back-tracking" ability to avoid the local minima problem.The proposed motion planner has advantages on low computational cost, the suitability for real time path planning in 3D space and the capability to escape simple local minima. Emerald Fulltext Archive Database 1994-2005 Motion Robotics Wu, X.J. oth Li, Q. oth Heng, K.H. oth In Industrial robot Bradford : MCB Univ. Press, 1973 32(2005), 3, Seite 248-258 Online-Ressource (DE-627)NLEJ219579342 (DE-600)2025337-0 nnns volume:32 year:2005 number:3 pages:248-258 extent:11 http://dx.doi.org/10.1108/01439910510593947 GBV_USEFLAG_U ZDB-1-EFD GBV_NL_ARTICLE AR 32 2005 3 248-258 11 |
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10.1108/01439910510593947 doi (DE-627)NLEJ219679673 DE-627 ger DE-627 rakwb eng XA-GB Development of a general manipulator path planner using fuzzy reasoning 2005 11 nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier Purpose - Aim for efficient motion planning of industrial robot with high degree of freedoms in both static and dynamic environments. Design/methodology/approach - A multi-agent based general path planner for serial manipulator is proposed in this work. A hierarchical structure developed based on fuzzy reasoning is employed in the planner. The high level in the hierarchical structure is designed to dynamically assign each link an appropriate behaviour and the low level is designed to determine the joint speed according to the behaviours assigned by the high level. Findings - Combination of multi-agent concept and fuzzy reasoning approach can obtain both flexibility and efficiency in motion planning of serial manipulator with high degree of freedoms. Research limitations/implications - Multiple local minima problem occurred in complex manipulation scenario has not yet been considered. Practical implications - Applicable for real time motion planning of serial industrial robots with high degrees of freedom in 3D space. Originality/value - In this research work, we make use of the of multi-agent plus fuzzy logic concept to design a novel manipulator motion path planner, in particular, we introduce a novel mechanism into the fuzzy logic algorithm with the "back-tracking" ability to avoid the local minima problem.The proposed motion planner has advantages on low computational cost, the suitability for real time path planning in 3D space and the capability to escape simple local minima. Emerald Fulltext Archive Database 1994-2005 Motion Robotics Wu, X.J. oth Li, Q. oth Heng, K.H. oth In Industrial robot Bradford : MCB Univ. Press, 1973 32(2005), 3, Seite 248-258 Online-Ressource (DE-627)NLEJ219579342 (DE-600)2025337-0 nnns volume:32 year:2005 number:3 pages:248-258 extent:11 http://dx.doi.org/10.1108/01439910510593947 GBV_USEFLAG_U ZDB-1-EFD GBV_NL_ARTICLE AR 32 2005 3 248-258 11 |
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10.1108/01439910510593947 doi (DE-627)NLEJ219679673 DE-627 ger DE-627 rakwb eng XA-GB Development of a general manipulator path planner using fuzzy reasoning 2005 11 nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier Purpose - Aim for efficient motion planning of industrial robot with high degree of freedoms in both static and dynamic environments. Design/methodology/approach - A multi-agent based general path planner for serial manipulator is proposed in this work. A hierarchical structure developed based on fuzzy reasoning is employed in the planner. The high level in the hierarchical structure is designed to dynamically assign each link an appropriate behaviour and the low level is designed to determine the joint speed according to the behaviours assigned by the high level. Findings - Combination of multi-agent concept and fuzzy reasoning approach can obtain both flexibility and efficiency in motion planning of serial manipulator with high degree of freedoms. Research limitations/implications - Multiple local minima problem occurred in complex manipulation scenario has not yet been considered. Practical implications - Applicable for real time motion planning of serial industrial robots with high degrees of freedom in 3D space. Originality/value - In this research work, we make use of the of multi-agent plus fuzzy logic concept to design a novel manipulator motion path planner, in particular, we introduce a novel mechanism into the fuzzy logic algorithm with the "back-tracking" ability to avoid the local minima problem.The proposed motion planner has advantages on low computational cost, the suitability for real time path planning in 3D space and the capability to escape simple local minima. Emerald Fulltext Archive Database 1994-2005 Motion Robotics Wu, X.J. oth Li, Q. oth Heng, K.H. oth In Industrial robot Bradford : MCB Univ. Press, 1973 32(2005), 3, Seite 248-258 Online-Ressource (DE-627)NLEJ219579342 (DE-600)2025337-0 nnns volume:32 year:2005 number:3 pages:248-258 extent:11 http://dx.doi.org/10.1108/01439910510593947 GBV_USEFLAG_U ZDB-1-EFD GBV_NL_ARTICLE AR 32 2005 3 248-258 11 |
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10.1108/01439910510593947 doi (DE-627)NLEJ219679673 DE-627 ger DE-627 rakwb eng XA-GB Development of a general manipulator path planner using fuzzy reasoning 2005 11 nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier Purpose - Aim for efficient motion planning of industrial robot with high degree of freedoms in both static and dynamic environments. Design/methodology/approach - A multi-agent based general path planner for serial manipulator is proposed in this work. A hierarchical structure developed based on fuzzy reasoning is employed in the planner. The high level in the hierarchical structure is designed to dynamically assign each link an appropriate behaviour and the low level is designed to determine the joint speed according to the behaviours assigned by the high level. Findings - Combination of multi-agent concept and fuzzy reasoning approach can obtain both flexibility and efficiency in motion planning of serial manipulator with high degree of freedoms. Research limitations/implications - Multiple local minima problem occurred in complex manipulation scenario has not yet been considered. Practical implications - Applicable for real time motion planning of serial industrial robots with high degrees of freedom in 3D space. Originality/value - In this research work, we make use of the of multi-agent plus fuzzy logic concept to design a novel manipulator motion path planner, in particular, we introduce a novel mechanism into the fuzzy logic algorithm with the "back-tracking" ability to avoid the local minima problem.The proposed motion planner has advantages on low computational cost, the suitability for real time path planning in 3D space and the capability to escape simple local minima. Emerald Fulltext Archive Database 1994-2005 Motion Robotics Wu, X.J. oth Li, Q. oth Heng, K.H. oth In Industrial robot Bradford : MCB Univ. Press, 1973 32(2005), 3, Seite 248-258 Online-Ressource (DE-627)NLEJ219579342 (DE-600)2025337-0 nnns volume:32 year:2005 number:3 pages:248-258 extent:11 http://dx.doi.org/10.1108/01439910510593947 GBV_USEFLAG_U ZDB-1-EFD GBV_NL_ARTICLE AR 32 2005 3 248-258 11 |
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Purpose - Aim for efficient motion planning of industrial robot with high degree of freedoms in both static and dynamic environments. Design/methodology/approach - A multi-agent based general path planner for serial manipulator is proposed in this work. A hierarchical structure developed based on fuzzy reasoning is employed in the planner. The high level in the hierarchical structure is designed to dynamically assign each link an appropriate behaviour and the low level is designed to determine the joint speed according to the behaviours assigned by the high level. Findings - Combination of multi-agent concept and fuzzy reasoning approach can obtain both flexibility and efficiency in motion planning of serial manipulator with high degree of freedoms. Research limitations/implications - Multiple local minima problem occurred in complex manipulation scenario has not yet been considered. Practical implications - Applicable for real time motion planning of serial industrial robots with high degrees of freedom in 3D space. Originality/value - In this research work, we make use of the of multi-agent plus fuzzy logic concept to design a novel manipulator motion path planner, in particular, we introduce a novel mechanism into the fuzzy logic algorithm with the "back-tracking" ability to avoid the local minima problem.The proposed motion planner has advantages on low computational cost, the suitability for real time path planning in 3D space and the capability to escape simple local minima. |
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Purpose - Aim for efficient motion planning of industrial robot with high degree of freedoms in both static and dynamic environments. Design/methodology/approach - A multi-agent based general path planner for serial manipulator is proposed in this work. A hierarchical structure developed based on fuzzy reasoning is employed in the planner. The high level in the hierarchical structure is designed to dynamically assign each link an appropriate behaviour and the low level is designed to determine the joint speed according to the behaviours assigned by the high level. Findings - Combination of multi-agent concept and fuzzy reasoning approach can obtain both flexibility and efficiency in motion planning of serial manipulator with high degree of freedoms. Research limitations/implications - Multiple local minima problem occurred in complex manipulation scenario has not yet been considered. Practical implications - Applicable for real time motion planning of serial industrial robots with high degrees of freedom in 3D space. Originality/value - In this research work, we make use of the of multi-agent plus fuzzy logic concept to design a novel manipulator motion path planner, in particular, we introduce a novel mechanism into the fuzzy logic algorithm with the "back-tracking" ability to avoid the local minima problem.The proposed motion planner has advantages on low computational cost, the suitability for real time path planning in 3D space and the capability to escape simple local minima. |
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Purpose - Aim for efficient motion planning of industrial robot with high degree of freedoms in both static and dynamic environments. Design/methodology/approach - A multi-agent based general path planner for serial manipulator is proposed in this work. A hierarchical structure developed based on fuzzy reasoning is employed in the planner. The high level in the hierarchical structure is designed to dynamically assign each link an appropriate behaviour and the low level is designed to determine the joint speed according to the behaviours assigned by the high level. Findings - Combination of multi-agent concept and fuzzy reasoning approach can obtain both flexibility and efficiency in motion planning of serial manipulator with high degree of freedoms. Research limitations/implications - Multiple local minima problem occurred in complex manipulation scenario has not yet been considered. Practical implications - Applicable for real time motion planning of serial industrial robots with high degrees of freedom in 3D space. Originality/value - In this research work, we make use of the of multi-agent plus fuzzy logic concept to design a novel manipulator motion path planner, in particular, we introduce a novel mechanism into the fuzzy logic algorithm with the "back-tracking" ability to avoid the local minima problem.The proposed motion planner has advantages on low computational cost, the suitability for real time path planning in 3D space and the capability to escape simple local minima. |
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<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000caa a22002652 4500</leader><controlfield tag="001">NLEJ219679673</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20210707091526.0</controlfield><controlfield tag="007">cr uuu---uuuuu</controlfield><controlfield tag="008">090811s2005 xxk|||||o 00| ||eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.1108/01439910510593947</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)NLEJ219679673</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="044" ind1=" " ind2=" "><subfield code="c">XA-GB</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Development of a general manipulator path planner using fuzzy reasoning</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2005</subfield></datafield><datafield tag="300" ind1=" " ind2=" "><subfield code="a">11</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">nicht spezifiziert</subfield><subfield code="b">zzz</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">nicht spezifiziert</subfield><subfield code="b">z</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">nicht spezifiziert</subfield><subfield code="b">zu</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">Purpose - Aim for efficient motion planning of industrial robot with high degree of freedoms in both static and dynamic environments. Design/methodology/approach - A multi-agent based general path planner for serial manipulator is proposed in this work. A hierarchical structure developed based on fuzzy reasoning is employed in the planner. The high level in the hierarchical structure is designed to dynamically assign each link an appropriate behaviour and the low level is designed to determine the joint speed according to the behaviours assigned by the high level. Findings - Combination of multi-agent concept and fuzzy reasoning approach can obtain both flexibility and efficiency in motion planning of serial manipulator with high degree of freedoms. Research limitations/implications - Multiple local minima problem occurred in complex manipulation scenario has not yet been considered. Practical implications - Applicable for real time motion planning of serial industrial robots with high degrees of freedom in 3D space. Originality/value - In this research work, we make use of the of multi-agent plus fuzzy logic concept to design a novel manipulator motion path planner, in particular, we introduce a novel mechanism into the fuzzy logic algorithm with the "back-tracking" ability to avoid the local minima problem.The proposed motion planner has advantages on low computational cost, the suitability for real time path planning in 3D space and the capability to escape simple local minima.</subfield></datafield><datafield tag="533" ind1=" " ind2=" "><subfield code="f">Emerald Fulltext Archive Database 1994-2005</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Motion</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Robotics</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Wu, X.J.</subfield><subfield code="4">oth</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Li, Q.</subfield><subfield code="4">oth</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Heng, K.H.</subfield><subfield code="4">oth</subfield></datafield><datafield tag="773" ind1="0" ind2="8"><subfield code="i">In</subfield><subfield code="t">Industrial robot</subfield><subfield code="d">Bradford : MCB Univ. Press, 1973</subfield><subfield code="g">32(2005), 3, Seite 248-258</subfield><subfield code="h">Online-Ressource</subfield><subfield code="w">(DE-627)NLEJ219579342</subfield><subfield code="w">(DE-600)2025337-0</subfield><subfield code="7">nnns</subfield></datafield><datafield tag="773" ind1="1" ind2="8"><subfield code="g">volume:32</subfield><subfield code="g">year:2005</subfield><subfield code="g">number:3</subfield><subfield code="g">pages:248-258</subfield><subfield code="g">extent:11</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">http://dx.doi.org/10.1108/01439910510593947</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_USEFLAG_U</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">ZDB-1-EFD</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_NL_ARTICLE</subfield></datafield><datafield tag="951" ind1=" " ind2=" "><subfield code="a">AR</subfield></datafield><datafield tag="952" ind1=" " ind2=" "><subfield code="d">32</subfield><subfield code="j">2005</subfield><subfield code="e">3</subfield><subfield code="h">248-258</subfield><subfield code="g">11</subfield></datafield></record></collection>
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