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Applying hierarchical fuzzy theory on inverse kinematic multi-DOF robot arm control | IEEE Conference Publication | IEEE Xplore

Applying hierarchical fuzzy theory on inverse kinematic multi-DOF robot arm control


Abstract:

This paper presents a method based on inverse kinematic(IK) with fuzzy control for multi-DOF arm control. We particular focus on the use of hierarchical fuzzy concept to ...Show More

Abstract:

This paper presents a method based on inverse kinematic(IK) with fuzzy control for multi-DOF arm control. We particular focus on the use of hierarchical fuzzy concept to reduce the number of fuzzy rules for inverse kinematics calculations. A direct transformation of trajectory is generated; allow the robot to response promptly compared to the traditional fuzzy method. The approach is validated first on a visualized 3D modeling environment and later on a 3 joint robot arm. The results show very promising results for the use on multi-DOF robot control.
Date of Conference: 10-12 December 2014
Date Added to IEEE Xplore: 23 March 2015
Electronic ISBN:978-1-4799-5199-4
Conference Location: Singapore

References

References is not available for this document.