{"title":"一种模糊机器人控制器的硬件实现","authors":"A. Nedungadi","doi":"10.1109/FUZZY.1992.258689","DOIUrl":null,"url":null,"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.<<ETX>>","PeriodicalId":222263,"journal":{"name":"[1992 Proceedings] IEEE International Conference on Fuzzy Systems","volume":"35 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1992-03-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"25","resultStr":"{\"title\":\"A fuzzy robot controller-hardware implementation\",\"authors\":\"A. Nedungadi\",\"doi\":\"10.1109/FUZZY.1992.258689\",\"DOIUrl\":null,\"url\":null,\"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.<<ETX>>\",\"PeriodicalId\":222263,\"journal\":{\"name\":\"[1992 Proceedings] IEEE International Conference on Fuzzy Systems\",\"volume\":\"35 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1992-03-08\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"25\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"[1992 Proceedings] IEEE International Conference on Fuzzy Systems\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/FUZZY.1992.258689\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"[1992 Proceedings] IEEE International Conference on Fuzzy Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/FUZZY.1992.258689","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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.<>
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