IN THE PAST, TRADITIONAL ROBOT CONTROLLERS HAVE RELIED ON AN EXACT INVERSE KINEMATIC MODEL TO CONVERT USER SPECIFIED CARTESIAN TRAJECTORY COMMANDS TO JOINT SET POINTS. THE STRICTLY MATHEMATICAL APPROACH USED SO FAR TO DERIVE THE INVERSE KINEMATIC EQUATIONS HAS RENDERED THE ROBOT CONTROL PROBLEM COMPUTATIONALLY INTENSIVE AND HAS OVERBURDENED THE MAIN HOST PROCESSOR OF ROBOT CONTROLLERS. THIS OBSERVATION PROVIDED THE IMPETUS TO INVESTIGATE A NEW APPROACH FOR ROBOT CONTROL. A NOVEL APPROACH IS PRESENTED USING FUZZY LOGIC TO REPLACE THE COMPUTATIONALLY INTENSIVE INVERSE KINEMATIC EQUATIONS OF TRADITIONAL CONTROLLERS. COMPUTER SIMULATION RESULTS ARE DESCRIBED TO VERIFY THE PROPOSED CONTROLLER CONCEPT.
| Number of Pages : | 14 |
| Published : | 06/01/1991 |
