Fuzzy logic based optimization for manipulators

Redundant manipulators have more degrees of freedom (DOF) than the DOF of the task space. The redundancy resolution can be based on the kinematic or the dynamic equations of the manipulator. In the article, a dynamic level redundancy resolution is proposed. The manipulator dynamical model in the joint space is first transformed to a reduced-order model in the pseudovelocity space. The elements of the foregoing transformation matrix indirectly determine the contribution of each joint to the total motion. These elements are selected using a fuzzy logic based method so as to minimize the instantaneous manipulator power. A nullspace vector in the velocity relationship between the two spaces is determined by imposing a constraint on the continuity of the joint velocities at the time instant when the elements of the transformation matrix experience a discontinuity. The application of the proposed method to resolve the redundancy is illustrated by simulations