Fuzzy Resolved-Motion-Rate Control of Kinematically Redundant Manipulators

Abstract

An inverse kinematic solution that utilizes the differential relationship between the joint and Cartesian space of redudant manipulators is proposed and applied to Resolved-Motion-Rate Control(RMRC). The conventional RMRC has utilized the pseudo-inverse of the Jacobian matrix, but the computation of the pseudo-inverse is complex so that it is not easy to be implemented on a digital computer for on-line motion planning of the robot. As an alternative of the pseudo-inverse control, the Fuzzy Resolved-Motion-Rate Control(FRMRC) is derived. This FRMRC is not only fast and simple but also singularity robust. The fuzzy rulse and corresponding membership functions are defined by the extension principle. The simulation results verify the efficiency of the proposed solution.