DocumentCode
3451882
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
fYear
1992
fDate
8-12 Mar 1992
Firstpage
1349
Lastpage
1356
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Fuzzy Systems, 1992., IEEE International Conference on
Conference_Location
San Diego, CA
Print_ISBN
0-7803-0236-2
Type
conf
DOI
10.1109/FUZZY.1992.258693
Filename
258693
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