Singularity Avoidance for a Redundant Robot Using Fuzzy Motion Planning

摘要

The purpose of this study is to design a redundant robot meeting the specific task and tracking the specific trajectory. Although the Moore-Penrose pseudo-inverse kinematic is commonly using to solve the inverse kinematic problem, it cannot solve the singularity exists in some situations that the rank of Jacobian matrix is not full rank for the redundant robot. Thus, a fuzzy motion planning algorithm is proposed to solve the inverse kinematic with singularity. Finally, we can obtain the position of five axes robot manipulator using fuzzy motion planning mapping method, and the errors of the singular points are approximately to zero. The results prove the fuzzy inverse kinematic mapping method can robust singular point when the tracking path with singular points.