6533b851fe1ef96bd12a968b

RESEARCH PRODUCT

The inverse kinematics solutions of a 7 DOF robotic arm using Fuzzy Logic

Sever-gabriel RaczMihai CrenganisRadu-eugen BreazOctavian Bologa

subject

321 kinematic structureRobot kinematicsInverse kinematicsComputer scienceControl engineeringKinematicsFuzzy control systemWorkspaceFuzzy logicComputer Science::RoboticsControl theoryKinematics equationsRobotic armAstrophysics::Galaxy Astrophysics

description

This paper focuses on modeling resolving and simulations of the inverse kinematics of an anthropomorphic redundant robotic structure with seven degrees of freedom and a workspace similar to human arm. Also the kinematical model and the kinematics equations of the robotic arm are presented. A method of resolving the redundancy of seven degrees of freedom robotic arm is presented using Fuzzy Logic toolbox from MATLAB®.

yearjournalcountryeditionlanguage
2012-07-012012 7th IEEE Conference on Industrial Electronics and Applications (ICIEA)
https://doi.org/10.1109/iciea.2012.6360783