Modelling and Simulation of Fuzzy-based Coordination of Trajectory Planning and Obstacle Avoiding for RRP-Typed SCARA Robots

Abstract

In this article, a fuzzy-based solution of coordination between behaviors of trajectory planning and obstacle avoiding in a RRP-typed SCARA robot control is presented. The first idea of the proposed solution is to divide a robot's complex behavior into simpler parallel behaviors. The second key idea is a fuzzy-based coordination between these behaviors to make smooth robot motions without collision. The modelling and simulation on Matlab are executed to test the performance of the proposed solutions under basic circumstances.