Inverse kinematics is computationally expensive and can
result in significant control delays in real time. For a redundant
robot, additional computations are required for the inverse kinematic
solution through optimization schemes. Based on the fact that humans
do not compute exact inverse kinematics, but can do precise
positioning from heuristics, we developed an inverse kinematic mapping
through fuzzy logic. The implementation of the proposed scheme has
demonstrated that it is feasible for both redundant and nonredundant
cases, and that it is very computationally efficient. The result
provides sufficient precision, and transient tracking error can be
controlled based on a fuzzy adaptive scheme proposed in this
paper. This paper discusses (1) the automatic generation of the Fuzzy
Inverse Kinematic Mapping (FIKM) from specification of the DH
parameters, (2) the efficiency of the scheme in comparison to
conventional approaches, and (3) the implementation results for both
redundant and nonredundant robots.
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