Title :
A fuzzy logic positioning system for an articulated robot arm
Author :
Martinez, Juan ; Bowles, John ; Mills, Patrick
Author_Institution :
Dept. of Electr. & Comput. Eng., South Carolina Univ., Columbia, SC, USA
Abstract :
Articulated robot arms offer maximum positioning flexibility but suffer from complex kinematics. In most applications, linear motion is desirable. Calculating the kinematic equations which govern an articulated arm is straight forward; however, it is generally difficult to calculate the inverse kinematic equations that are needed to position the arm in closed form. Using a fuzzy reasoning system, it is possible to accurately position an articulated arm without explicitly solving the inverse kinematic equations
Keywords :
manipulator kinematics; articulated robot arm; fuzzy logic positioning system; fuzzy reasoning; fuzzy set theory; inverse kinematics; position control; Arm; Control systems; Equations; Fuzzy logic; Fuzzy reasoning; Microcomputers; Motion control; Robot kinematics; Servomechanisms; Servomotors;
Conference_Titel :
Fuzzy Systems, 1996., Proceedings of the Fifth IEEE International Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-3645-3
DOI :
10.1109/FUZZY.1996.551750