Abstract: A rule of real-time motion planning and control for a manipulator to trace a mobile target based on sensitive servo is presented. The rule employs a fuzzy logic adaptive algorithm, according to different characteristics in tracking phases, to modify the motion of the manipulator on-line completely based on the camera images and the performing situation of actuators. So the tedious analysis about robot kinetics and dynamics is avoided. A simulation of 2-DOF planar manipulator demonstrates the feasibility.

Key words: Actuator saturation, Manipulator, Motion planning, Sensitive servo