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This paper is concerned with a mobile robot reactive navigation in an unknown cluttered environment based on neural network and fuzzy logic. Reactive navigation is a mapping between sensory data and commands without planning. This article's task is to provide a steering command letting a mobile robot avoid a collision with obstacles. In this paper, the authors explain how to perform a currently perceptual space partitioning for a mobile robot by the use of an ART neural network, and then, how to build a 3-dimensional fuzzy controller for mobile robot reactive navigation. The results presented, whether experimented or simulation, show that our method is well adapted to this type of problem.

Ahfracf-B d on annlyzing the acebanism of passive mmpliant assembly, its geometric-lorce models are presented, and the stiffness matrix of Iamlnated Circul81 elastic element is set up. The method of optimum of RCC *rist is compiled by way of two phrespectively.

A new numerical method for the solution of the inverse position analysis of serial manipulators is presented. The main feature of the method that makes it attractive with respect to the method available in the literature, is its ability to search out the inverse solution of any precision quickly.