Fuzzy inverse kinematic mapping: rule generation, efficiency, and implementation


Inverse kinematics is computationally expensive and can result in significant control delays in real lime. Fur a redundant robot, additional computations are required for the inversekinematic solution through optimization schemes. Based on h e fact that humans do not compute exact inverse kinematics, but can do precise positioning from heuristics. we… (More)
DOI: 10.1109/IROS.1993.583251

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