Title :
The inverse kinematics solutions of a 7 DOF robotic arm using Fuzzy Logic
Author :
Mihai Crenganiş;Radu Breaz;Gabriel Racz;Octavian Bologa
Author_Institution :
Department of Machines and Equipment, Lucian Blaga University of Sibiu, Engineering Faculty, Romania
fDate :
7/1/2012 12:00:00 AM
Abstract :
This paper focuses on modeling resolving and simulations of the inverse kinematics of an anthropomorphic redundant robotic structure with seven degrees of freedom and a workspace similar to human arm. Also the kinematical model and the kinematics equations of the robotic arm are presented. A method of resolving the redundancy of seven degrees of freedom robotic arm is presented using Fuzzy Logic toolbox from MATLAB®.
Keywords :
"Mathematical model","Robot kinematics","Kinematics","Fuzzy logic","Equations","Service robots"
Conference_Titel :
Industrial Electronics and Applications (ICIEA), 2012 7th IEEE Conference on
Print_ISBN :
978-1-4577-2118-2
DOI :
10.1109/ICIEA.2012.6360783
