Fuzzy rule based approach for robot motion control

Abstract

A fuzzy rule based approach for robot motion control is proposed to eliminate the computational complexity of the inverse kinematics problem associated with the conventional mathematical algorithm. Based upon the study of forward kinematics, a strategy for formulating the fuzzy rule set is proposed. A hierarchy is used in structuring the rules to reduce the number of rules needed for a complete fuzzy rule set. Simulations have shown that, by consulting the fuzzy rule sets, a robot can follow the user specified trajectory within the specified error limit.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>