Intelligent path planning of two cooperating robots based on fuzzy logic

Abstract

This paper proposes an intelligent path planning scheme for two cooperating robots (TCRs) using fuzzy logic. The proposed scheme requires knowledge of the robots' dynamics, which in turn depends upon the characteristics of the payload carried by the TCRs. However, the dynamic properties of the payload are not known exactly, so that the dynamics of the robots, and hence the required joint torque, must be calculated for nominal set of the payload characteristics. The force of the TCRs is an important factor in carrying the payload (object). It is divided into external force and internal force. In general, effects of the internal force of the TCRs are not considered in performing the load distribution in terms of optimal time, but they are essential in optimal trajectory planning; if they are not taken into consideration, the optimal scheme is no longer feasible. To alleviate this deficiency, we present an algorithm for finding the internal-force factors for the TCRs in terms of the optimal time and for constructing an optimal trajectory. The effectiveness of the proposed system is demonstrated by computer simulations using two three-joint planner robot manipulators.