Title :
A fuzzy robot controller-hardware implementation
Author :
Nedungadi, Ashok
Author_Institution :
Robotics & Autom. Dept., Southwest Res. Inst., San Antonio, TX, USA
Abstract :
The author developed a robot controller that exploits the principles of fuzzy logic to circumvent the mathematically complex inverse kinematic equations that are at the heart of operations of conventional robot controllers. The fuzzy control rules are derived for a planar robot with an arbitrary number of serial degrees of freedom. Computer simulation results are presented to verify the proposed concept. In addition, the hardware implementation of the fuzzy robot controller is described and experimental results are included
Keywords :
control system synthesis; fuzzy control; fuzzy logic; kinematics; robots; fuzzy control rules; fuzzy logic; fuzzy robot controller; inverse kinematic equations; Automatic control; Computer simulation; Control systems; Equations; Fuzzy control; Fuzzy logic; Fuzzy sets; Hardware; Heart; Kinematics; Lighting control; Nonlinear equations; Robot control; Robotics and automation;
Conference_Titel :
Fuzzy Systems, 1992., IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-0236-2
DOI :
10.1109/FUZZY.1992.258689
