Fuzzy inverse kinematic mapping: rule generation, efficiency, and implementation

Inverse kinematics is computationally expensive and can result in significant control delays in real lime. Fur a redundant robot, additional computations are required for the inversekinematic solution through optimization schemes. Based on h e fact that humans do not compute exact inverse kinematics, but can do precise positioning from heuristics. we developed an inverse kinematic mapping &ugh fuzzy logic. The implementation of the proposed scheme has demonsmted that it is feasible for both redundant and nonredundant cares, and that it is very computationally efficient. l3e result provides sufficient precision, and transient tracking ermr can be controlled Lmed on a fuzzy adaptive scheme proposed in this papx This paper discusses (1) the automatic genmtion of the Fuzzy Inverse Kinematic Mapping (FIKhQ from specification of the DH parameters, (2) the efficiency of h e scheme in comparison to conventional approaches, and (3) the implementation results for both redundant and nonredundant robots.