Robot inverse kinematics based on FCM and fuzzy-neural network

Abstract

Presents a fast and effective method proposed by combining the fuzzy C-means (FCM) and the fuzzy neural network for solving robot inverse kinematics, and its successful application to the robot inverse kinematics and concludes from simulation results that this new method not only has high efficiency and accuracy, but also good generalization, and it also overcomes the ＂dimension disaster＂ of fuzzy set in a fuzzy neural network fairly well.