Avoiding joint limits and obstacles for kinematically redundant manipulators: a fuzzy-logic based approach

摘要

A fuzzy-logic based method for avoiding joint limits and obstacles in kinematically redundant manipulators is presented. A comparison is made with the gradient projection method (GPM) for avoiding joint limits and obstacles. The fuzzy-logic based method automatically chooses an appropriate magnitude of self-motion using linguistic rules. The method is simple and is physically reliable. Its effectiveness has been demonstrated by computer simulation.