A fuzzy logic approach for kinematic control of redundant manipulators

In this paper, a new fuzzy logic approach with multi-criteria is proposed for the kinematic control of redundant manipulators. First, the joint trajectory based on pseudoinverse and gradient vectors corresponding to each criterion is calculated. Then the desired one is selected among all obtained trajectories based on the relative importance degrees of criteria and the satisfaction degrees of a trajectory to all criteria by a fuzzy multi-criteria decision making process. Unlike most fuzzy logic schemes, there is no need to defuzzify the control action in our method. Simulation results demonstrate the effectiveness of the method