Método inteligente de controle de movimento acoplado para sistemas veículo-manipulador

Abstract

A vehicle-manipulator is a robot that has a mechanical manipulator coupled to a mobile platform, giving the manipulator a larger area of action. In the same way that it increases its capacity of performance and possibilities of realizations of the most diverse tasks, this coupling also increases the complexity of its implementation, especially when it comes to the development of a coupled motion manipulating vehicle, that is, that uses its base mobile and its manipulator simultaneously, so that the manipulating vehicle can perform movements in a more fluid and natural way. This study proposes an intelligent method for the control of movement and manipulation of vehicle-manipulator systems using the Fuzzy logic aided by the cognitive model framework LIDA - Learning Intelligent Development Agent - with focus on the coupled movement. In order to carry out the experiments and collect the results, a vehicle-manipulator was developed in both its hardware and software architecture. The software architecture presented does not go deep into Fuzzy concepts as well as a deep development of a LIDA architecture, using only initial concepts to validate its operation. With the accomplishment of the experiments and data collection, the validity of the use of the LIDA in vehicle-manipulator systems was validated.