基于模糊规则的机器人运动控制方法

[1992 Proceedings] IEEE International Conference on Fuzzy Systems Pub Date : 1992-03-08 DOI:10.1109/FUZZY.1992.258693

G. Raju, J. Zhou

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引用次数: 13

摘要

提出了一种基于模糊规则的机器人运动控制方法，消除了传统数学算法中运动学逆问题的计算复杂度。在研究机器人正运动学的基础上，提出了一种模糊规则集的制定策略。层次结构用于构建规则，以减少完整模糊规则集所需的规则数量。仿真结果表明，通过查询模糊规则集，机器人可以在指定的误差范围内遵循用户指定的轨迹

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Fuzzy rule based approach for robot motion control

A fuzzy rule based approach for robot motion control is proposed to eliminate the computational complexity of the inverse kinematics problem associated with the conventional mathematical algorithm. Based upon the study of forward kinematics, a strategy for formulating the fuzzy rule set is proposed. A hierarchy is used in structuring the rules to reduce the number of rules needed for a complete fuzzy rule set. Simulations have shown that, by consulting the fuzzy rule sets, a robot can follow the user specified trajectory within the specified error limit.<>

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[1992 Proceedings] IEEE International Conference on Fuzzy Systems

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