Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/111179
Title: Fuzzy logic joint path generation for kinematic redundant manipulators with multiple criteria
Authors: Wang, D.
Soh, Y.C.
Gu, M. 
Issue Date: 1996
Citation: Wang, D.,Soh, Y.C.,Gu, M. (1996). Fuzzy logic joint path generation for kinematic redundant manipulators with multiple criteria. Journal of Intelligent and Fuzzy Systems 4 (2) : 89-99. ScholarBank@NUS Repository.
Abstract: Kinematic redundancy enables a robot to change its joint configuration without changing the position of the end effector of the robot. In addition to the requirement of path tracking in Cartesian space, many tasks require a manipulator to achieve more than one performance criteria or take into account some manipulation constraints. In this article, a fuzzy logic approach is proposed for the desired joint path generation for redundant manipulators with consideration of multiple criteria. Performance criteria are fuzzified and their relative importance is introduced. The desired joint path is determined based on the relative importance of various criteria and the satisfaction measures of each candidate joint path to all criteria by a fuzzy logic multiple criteria decision making process. Simulation results are presented to demonstrate that the proposed method can generate a path that can satisfy two performance criteria. © 1996 John Wiley and Sons, Inc.
Source Title: Journal of Intelligent and Fuzzy Systems
URI: http://scholarbank.nus.edu.sg/handle/10635/111179
ISSN: 10641246
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

Page view(s)

31
checked on Oct 12, 2018

Google ScholarTM

Check


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.