Title :
Applying hierarchical fuzzy theory on inverse kinematic multi-DOF robot arm control
Author :
Ta-Ming Shih ; Jian-Jung Huang
Author_Institution :
Dept. of Avionics, China Univ. of Sci. & Technol., Taipei, Taiwan
Abstract :
This paper presents a method based on inverse kinematic(IK) with fuzzy control for multi-DOF arm control. We particular focus on the use of hierarchical fuzzy concept to reduce the number of fuzzy rules for inverse kinematics calculations. A direct transformation of trajectory is generated; allow the robot to response promptly compared to the traditional fuzzy method. The approach is validated first on a visualized 3D modeling environment and later on a 3 joint robot arm. The results show very promising results for the use on multi-DOF robot control.
Keywords :
fuzzy set theory; manipulator dynamics; manipulator kinematics; 3 joint robot arm; fuzzy control; fuzzy method; fuzzy rules; hierarchical fuzzy concept; hierarchical fuzzy theory; inverse kinematic multiDOF robot arm control; inverse kinematics calculations; trajectory; visualized 3D modeling environment; Fuzzy logic; Joints; Nickel; Robot kinematics; Three-dimensional displays; Trajectory; fuzzy theory; hierarchical fuzzy theory; intelligent controller; robot arm;
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2014 13th International Conference on
DOI :
10.1109/ICARCV.2014.7064350
