Journal of the Korean Society of Fisheries and Ocean Technology (수산해양기술연구)
- Volume 29 Issue 4
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- Pages.279-285
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- 1993
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- 2671-9940(pISSN)
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- 2671-9924(eISSN)
Robot Inverse Kinematics by Using Fuzzy Reasoning
퍼지추론법을 이용한 로버트 역기구학의 해
Abstract
Robot inverse kinematics solution is a complex nonlinear equation and very time-consuming task. This paper propose to use TSK fuzzy reasoning for solving robot inverse kinematics. A fuzzy model of inverse kinematics is identified by using input-output data and the model is used to solve the inverse kinematics. To show that, when used in robot inverse kinematics, fuzzy model is simple and generates a fairly accurate solution, a fuzzy model of inverse kinematics for PUMA robot is constructed.
Keywords