Integer inverse kinematics method using Fuzzy logic

Abstract

In this paper, we propose an integer inverse kinematics method for multijoint robot control. The method reduces computational overheads and leads to the development of a simple control system as the use of fuzzy logic enables linguistic modeling of the joint angle. A small humanoid robot is used to confirm via experiment that the method produces the same cycling movements in the robot as those in a human. In addition, we achieve fast information sharing by implementing the all-integer control algorithm in a low-cost, low-power microprocessor. Moreover, we evaluate the ability of this method for trajectory generation and confirm that target trajectories are reproduced well. The computational results of the general inverse kinematics model are compared to those of the integer inverse kinematics model and similar outputs are demonstrated. We show that the integer inverse kinematics model simplifies the control process.

Self collision detection system for R3 robot

“…Method 1: Neuro-Fuzzy Approach Fuzzy logic can be used for modeling complex systems. For example in [10] authors implemented an inverse kinematics model for humanoid robot.…”

Kinematic analysis and fault-tolerant trajectory planning of space manipulator under a single joint failure

“…There are two types of methods to solve the inverse kinematics of such manipulator with single locked joint: One is to directly solve the 5-DOF manipulator; the other is to construct a new 6-DOF manipulator with a virtual joint. For the former, there are various methods [ 9 , 10 ] to obtain the inverse solution of the manipulator. The methods based on vector algebra and linear transform [ 11 – 13 ] are always used to solve the inverse solution of a manipulator with insufficient degrees of freedoms.…”