论文部分内容阅读
冗余机器人逆运动学求解的方法很多，多数都不能很好的满足实时控制的要求，本文运用模糊逻辑的思想，构造了一种逆运动学求解方法，其计算量较其它方法大大减小，且满足实时控制的要求，仿真结果也证明了该方法的可行性。
There are many methods to solve inverse kinematics of redundant robots, and most of them can not meet the requirements of real-time control well. In this paper, we use the idea of fuzzy logic to construct an inverse kinematic solution method. Compared with other methods, And meet the requirements of real-time control. Simulation results also prove the feasibility of the method.