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Modeling, Fabrication and Mobile Navigation of a Robot for Inspection Operations


K. Venkata Chalapathi , Narsaraopeta Engineering College; Ch. Sekhar, Narsaraopeta Engineering College, JNT University, Kakinada; K. Sudershn Kumar, KSRM College of Engineering (Autonomous), Kadapa


Fabrication, Mobile Navigation, Inspection Operations


Nowadays, the impacts of robots in industry are unquestionable, and robotic arms are implemented in most productive industries. Design and manufacture of this type of arm’s are in demand in most of the industrial countries. Present working is focusing on mainly in the development of a robotic arm (manipulator) for the remote maintenance application especially used in Nuclear reactors. Here we are looking mainly on the Design, modeling and navigation by using fuzzy logic toolbox of a manipulator in virtual environment. The simulation of robot systems is becoming very popular, especially with the lowering of the cost of computers. The robot navigation has been done by considering inputs like left obstacle distance, right obstacle distance, front obstacle distance and heading angle and the outputs are left wheel velocity and right wheel velocity by using Matlab. The different membership functions like triangular and Gaussian are used to achieve the accuracy in navigation. Experimentally it is proved that the accuracy of Gaussian membership function over other membership function is more. So for mobile robot obstacles avoidance Gaussian membership function is most recommended for achieving accuracy in navigation.

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Paper ID: IJSRDV3I70058
Published in: Volume : 3, Issue : 7
Publication Date: 01/10/2015
Page(s): 66-69

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