Obstacle avoidance path planning strategy for robot arm based on fuzzy logic

摘要

In this paper, a novel path planning strategy based on fuzzy logic for a robot arm with a fixed pedestal is proposed, and the simulation environment conditions in which the robot arm works are specific and unpredictable. First, considering a simple working platform set in front of the robot arm system, it will become an obstacle when robot is working. Second, an obstacle avoidance path planning strategy is designed and the coordinates of robot arm end are used to achieve close-loop control. In addition, fuzzy control theory is applied to design a fuzzy path planning controller, and a dangerous sign is introduced to avoid obstacle. Finally, the experiments simulated on a two-joint robot arm with a fixed pedestal is given. The results show the feasibility and safety of the proposed path planning strategy.