Fuzzy logic control of a robotic manipulator for obstacles avoidance

The emergence of computational intelligence technology inspired by biological and human intelligence is one of the most exciting and important fields in engineering. It is expected that these technologies like fuzzy logic, will play a significant role in the development of intelligent robotic systems, machine systems, and mechatronics systems. In this work; a Fuzzy Logic Controller is presented to control the motion of a robotic arm and avoid the obstacles existed in its mission road ,using a real platform robotic arm in combination with a vision system. This work involves constructing an integrated and autonomic MATLAB program. It could be applicable for any robotic arm. It depends on a new approach in analyzing the robotic environment videos acquired by a fixed webcam. The approach uses colors to detect and recognize the changeable locations and objects dimensions for each of the robots end-effector, the goal, and the obstacles.

Israa Rafie Shareef B.Sc & M.Sc in mechatronics engineering Al khawarizmi college of engineering University of Baghdad, Iraq Working as an assistant lecturer in the same department.