A fuzzy logic positioning system for an articulated robot arm

Abstract

Articulated robot arms offer maximum positioning flexibility but suffer from complex kinematics. In most applications, linear motion is desirable. Calculating the kinematic equations which govern an articulated arm is straight forward; however, it is generally difficult to calculate the inverse kinematic equations that are needed to position the arm in closed form. Using a fuzzy reasoning system, it is possible to accurately position an articulated arm without explicitly solving the inverse kinematic equations.