Solution of the inverse kinematic problem of a serial manipulator by a fuzzy algorithm

Abstract

The robotic inverse kinematic problem, described in the following paragraph, appears in the field of robotics. Its solution can be gained numerically in general and analytically in such situations. The analytical approach is fast and puts in evidence the entire set of solutions, but cannot be applied in general. The numerical approach not always converges, not always puts in evidence all the solutions, but can be applied in general. Owing to these reasons, we will expose a new numerical algorithm based on fuzzy logic, that converges in all the tested trials. The results are very encouraging: the algorithm is fast and reliable.