DocumentCode
3451827
Title
A fuzzy robot controller-hardware implementation
Author
Nedungadi, Ashok
Author_Institution
Robotics & Autom. Dept., Southwest Res. Inst., San Antonio, TX, USA
fYear
1992
fDate
8-12 Mar 1992
Firstpage
1325
Lastpage
1331
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Fuzzy Systems, 1992., IEEE International Conference on
Conference_Location
San Diego, CA
Print_ISBN
0-7803-0236-2
Type
conf
DOI
10.1109/FUZZY.1992.258689
Filename
258689
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