Applying Hierarchical Fuzzy Theory on Inverse Kinematic multi-DOF Robot Arm Control

摘要

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.