Adaptive control of redundant multilink robot using fuzzy logic

Date

1993-12

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Abstract

The kinematics model of a multilink robot manipulator involves the solution of an inverse problem. The use of fuzzy logic based linguistic rules demonstrates superior performance over classical. computationally intensive and yet approximate solutions for the target position control and tracking control of a multilink robot arm. A new approach to fuzzy distance and restriction measures is used to obtain the appropriate orientations of the links for avoiding obstacles in the robot trajectories. This approach eliminates the classical task of solving highly coupled. nonlinear equations describing the illposed inverse problems of multilink robot motion at a much less demanding computational time. Such clear advantages of fuzzy logic based adaptive controllers are illustrated by simulation results of guidance of a multilink robot in target positioning and trajectory tracking. The simulation results involve a three-link robot arm with the capability of moving from one position to any desired position and tracking defined trajectories accurately. A modified fuzzy rule based distance measure allows the robot to follow trajectories without hitting the obstacles in the path. The simulation results indicate the advantage of fuzzy logic based adaptive controllers in multiple criteria decision-making tasks.

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Keywords

Robots -- Control systems, Fuzzy systems, Robots -- Motion

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