A novel approach to robot control using fuzzy logic

Abstract

The authors have 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. They describe the derivation of the fuzzy control rules for a planar robot with an arbitrary number of serial degrees-of-freedom (DOF). Computer simulation results are presented to verify the proposed concept. In addition, experimental results of implementing the developed fuzzy logic controller on a four DOF planar laboratory robot are discussed. Bench mark tests comparing the execution speed of the proposed fuzzy logic controller with the traditional controller revealed that the approach described was 33% times faster than traditional methods, which require solution of the inverse kinematic equations.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>