A Fuzzy Logic to Solve the Robotic Inverse Kinematic Problem

摘要

This study aims at introducing a numerical algorithm based on fuzzy logic to solve the robotic inverse kinematic problem. The increase of robot complexity requires fast and robust algorithms able to improve the convergence problem in the whole workspace. Classical numerical methods are usually difficult and computationally expensive and they do not always converge. The proposed approach is based on a fuzzy scheme, it converges in all the tested simulations on a serial manipulator.