Safe simulation of the manipulator in the presence of static and dynamic obstacles by using fuzzy system

Safe path planning is a necessary matter in human-robot interactions. This paper presents intelligent and safe path planning of the manipulator on a basis of the fuzzy system. This means that necessary commands for steering manipulator from departure to the destination are provided by the fuzzy controller. A fuzzy controller is a kind of controller that inspired by human decision on a basis of awareness and experience to steer the desired system. In this research, considered manipulator is located among the humans and static and dynamic obstacles. It should perform any state changing safely, in order to preserve health and tranquility of humans that work near the robot and also should avoid collision with obstacles. For this purpose, the velocity of changing of robot angle shouldn't exceed allowance. For achieving this goal, four factors are considered. These factors are known as danger indexes including Distance between human and robot, the velocity of two links, human head orientation and changing face state.in past researches, researchers have not considered these danger factors in designing manipulators. For monitoring these factors, the robot should be equipped with different sensors. The proposed issue was simulated in Simulink environment in Matlab. Results show that robot can avoid collision with obstacles and arrives safely to a desirable position with the little acceptable error.