Robot Inverse Kinematics Mapping using Fuzzy Associative Memory Approach

Abstract

The solution of robot inverse kinematics problems using the Denavit and Hartenberg transformation matrix requires excessive computation time. For some robots it is not possible to have close-form inverse kinematics solutions. In addition, the equations of robot inverse kinematics are not generally accessible to end users. One of the alternative approaches to solve robot inverse kinematics is to utilize fuzzy logic recursively to develop a model for the control of nonlinear complex systems like robotic systems. In this paper the fuzzy associative memory (FAM) approach is used to approximate the inverse robot kinematics solutions at satisfactory tolerance error for planar robots of one and two degrees of freedom (DOF).

Department(s)

Engineering Management and Systems Engineering

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 2024 The Authors, All rights reserved.

Publication Date

01 Dec 1995

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