Inverse kinematics solution based on fuzzy logic for redundant manipulators
نویسندگان
چکیده
An inverse kinematics solution that utilizes the differential felationship between the joint space and Cartesian space of redmdant manipulators is proposed. Until now, this solution can' be obtained using the pseudo-inverse of the Jacobian matrix. However the computation of the pseudoinverse is complex so that it is not easy to be implemented on a digital computer for on-line motion planning of the robot. As an alternative of the pseudo-inverse solution, the inverse kinematics solution using the fuzzy logic is derived. We find the rough solut'on based on the gradient method, and then refine it by intr ucing the fuzzy logic through the extension principle. As a result, a simple and fast inverse kinematics solutio :k The simulation results verify the efficiency of the proposed solution. \
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