Fuzzy trajectory planning and its application to robot manipulator path control

Abstract

The control ability of a robot manipulator control system and the importance of its abilities and limitations are considered, and a new trajectory planning method is proposed on the basis of high-level qualitative judgement. Fuzzy reasoning is a powerful tool for this. It is introduced into the trajectory planning problem in order to carry out trajectory planning systematically. This method is called fuzzy trajectory planning in this paper. Unsolved problems in previously proposed variable-speed trajectory planning are solved by the fuzzy trajectory planning method proposed here. A parallel-drive robot manipulator is taken as an example to show the effectiveness of the proposed method.