Application of Fuzzy Logic for the Solution of Inverse Kinematics and Hierarchical Controls of RoboticManipulators

  • Authors:

  • David W. Howard;Ali Zilouchian

  • Affiliations:

  • Department of Electrical Engineering, Florida Atlantic University, Boca Raton, FL 33431, U.S.A./ e-mail: Email: dave_howard@email.fpl.com;Department of Electrical Engineering, Florida Atlantic University, Boca Raton, FL 33431, U.S.A./ e-mail: Email: zilouchi@acc.fau.edu

  • Venue:
  • Journal of Intelligent and Robotic Systems
  • Year:
  • 1998

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Abstract

In this paper, hierarchical control techniques is used for controlling arobotic manipulator. The proposed method is based on the establishment of anon-linear mapping between Cartesian and joint coordinates using fuzzy logicin order to direct each individual joint. The hierarchical control will beimplemented with fuzzy logic to improve the robustness and reduce the runtime computational requirements. Hierarchical control consists of solvingthe inverse kinematic equations using fuzzy logic to direct each individualjoint. A commercial Microbot with three degrees of freedom is utilized toevaluate this methodology. A decentralized fuzzy controller is used for eachjoint, with a Fuzzy Associative Memories (FAM) performing the inversekinematic mapping in a supervisory mode. The FAM determines the inversekinematic mapping which maps the desired Cartesian coordinates to theindividual joint angles. The individual fuzzy controller for each jointgenerates the required control signal to a DC motor to move the associatedlink to the new position. The proposed hierarchical fuzzy controller iscompared to a conventional controller. The simulation experiments indeeddemonstate the effectiveness of the proposed method.