Resolved motion rate control of redundant robots using fuzzy logic

Abstract

Resolved motion rate control (RMRC) is used to map the Cartesian space trajectory to the joint space trajectory. The RMRC for the redundant robot requires the pseudo-inverse of the Jacobian matrix. However the pseudo-inverse is not easy to implement on a digital computer is real time and is mathematically complex. A simple fuzzy RMRC (FRMRC) that can replace the RMRC using the pseudo-inverse of the Jacobian is proposed. An FRMRC with appropriate fuzzy rules, membership functions, and reasoning method can solve the problem of mapping between the spaces without complexity. It is shown that this FRMRC is robust even when passing the singularity points. The mapped joint space trajectory can be directly used to control redundant manipulators. The simulation results verify the efficiency of the method.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>