Fuzzy inverse kinematics algorithm for man and machine cooperation

Abstract

Study of kinematics for robotic system consists of two problems; i.e. forward kinematic problem and inverse kinematic problem. Inverse kinematic, which is very important for control purposes, needs a good knowledge of desired location of target point as well as configuration of manipulator. In cases where human being acts as the vision and commanding system, the crisp values of desired position are not known. In such cases only a fuzzy value for tip error is available. This paper presents a fuzzy approach for inverse kinematics of a two link manipulator based on fuzzy inputs. Some numerical results are given which proves versatility of the proposed approach.