ファジィ軌道計画とそのロボットマニピュレータ経路制御への応用

抄録

In consideration of control ability of designed robot manipulator control system and the important ability or limit of robot manipulator, new trajectory planning method is proposed on the basis of high and qualitative judgment. Fuzzy reasoning is one of the powerful way in this case. It is introduced into trajectory planning in order to carry out trajectory planning systematically. This method is called fuzzy trajectory planning. Unsolved problems in previously proposed variable speed trajectory planning are solved by the proposed fuzzy trajectory planning method. Parallel drive robot manipulator is taken to be an example to show the effectiveness of the proposed method.