Title :
Fuzzy rule based approach for robot motion control
Author :
Raju, G.V.S. ; Zhou, Jun
Author_Institution :
Div. of Eng., Texas Univ., San Antonio, TX, USA
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
Keywords :
control system synthesis; fuzzy control; kinematics; knowledge based systems; position control; robots; forward kinematics; fuzzy rule based control; fuzzy rule set; inverse kinematics; robot motion control; Automatic generation control; Computational complexity; Equations; Fuzzy control; Fuzzy logic; Fuzzy sets; Kinematics; Motion control; Robot control; Robot motion;
Conference_Titel :
Fuzzy Systems, 1992., IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-0236-2
DOI :
10.1109/FUZZY.1992.258693
