A prototype fuzzy-based classifier system for trajectory planning

✍ Scribed by L.P. Khoo; M.Y. Teo

• Publisher: Elsevier Science
• Year: 1997
• Tongue: English
• Weight: 317 KB
• Volume: 20
• Category: Article
• ISSN: 1084-8045
• DOI: 10.1006/jnca.1997.0046

✦ Synopsis

This paper describes a prototype fuzzy-based classifier system for manipulator trajectory planning. The prototype system comprises four modules: a vision system, an object location analyser, a classifier system and a translator. The vision system is employed to capture and process the image of an object positioned in the work envelope of the manipulator. The object location analyser, which consists of a two-level fuzzy inferencing mechanism, is used to define the relative position of an object with respect to the end effector position. With the position defined and used as the input message from the environment, the classifer system is then employed to plan the trajectory. The translator provides the facility to convert the trajectory obtained into manipulator instructions which are used for the ultimate control of the manipulator. Details of the prototype system are presented. Validation of the prototype system was carried out. Details of the results obtained are discussed.