Fuzzy rule-based approach for robot motion control in the presence of obstacles

摘要

In this paper, a fuzzy rule based approach for robot motion control has been proposed to eliminate the computational complexity of the inverse kinematics problem associated with the conventional mathematical algorithm and facilitate the control of redundant robots to avoid obstacles. Strategies for formulating the fuzzy rule sets for motion and obstacle avoidance have been proposed. A hierarchy is used in structuring the rules to reduce the number of rules needed for a complete fuzzy rule set. Simulations have shown that by consulting the fuzzy rule sets, a robot can follow the user specified trajectory.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>