Controle de um braço robótico utilizando uma abordagem de agente inteligente.

Abstract

This research concerns the construction of an intelligent system developed for the manipulation of a robotic arm. The system is composed of a robotic arm divided in three parts, a magnet and a movable chess board, designed to help the movement of the robotic arm. The system is agent oriented and has six agents: one master agent, responsible for the communication among the slave agents; one intelligent agent for each part of the arm; one board agent, representing the movable chess board; and one magnet agent responsible for catching and releasing the chess pieces. The intelligence of each agent is implemented using Fuzzy Logic and the positioning of the arm is based on the symmetry of the chess board's squares. The use of intelligent agents has let the tasks of the system well distributed and organized, making it possible to have a qualitative as well as a quantitative representation of the positioning of the robotic arm, and to develop an agent based intelligent system for the control of the robotic arm.