A fuzzy robot controller-hardware implementation

Abstract

The author developed a robot controller that exploits the principles of fuzzy logic to circumvent the mathematically complex inverse kinematic equations that are at the heart of operations of conventional robot controllers. The fuzzy control rules are derived for a planar robot with an arbitrary number of serial degrees of freedom. Computer simulation results are presented to verify the proposed concept. In addition, the hardware implementation of the fuzzy robot controller is described and experimental results are included.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>