퍼지추론법을 이용한 로버트 역기구학의 해

오갑석; 고경천; 강근택

논문 상세보기

퍼지추론법을 이용한 로버트 역기구학의 해 KCI 등재

Robot Inverse Kinematics by Using Fuzzy Reasoning

오갑석, 고경천, 강근택

언어KOR
URLhttps://db.koreascholar.com/Article/Detail/256014

구독 기관 인증 시 무료 이용이 가능합니다. 4,000원

수산해양기술연구 (Journal of the Korean Society of Fisheries and Ocean Technology)

29권 4호 (1993.12)
pp.279-285

한국수산해양기술학회(구 한국어업기술학회) (The Korean Society of Fisheriers and Ocean Technology)

초록

Robot inverse kinematics solution is a complex nonlinear equation and very time-consuming task. This paper propose to use TSK fuzzy reasoning for solving robot inverse kinematics. A fuzzy model of inverse kinematics is identified by using input-output data and the model is used to solve the inverse kinematics. To show that, when used in robot inverse kinematics, fuzzy model is simple and generates a fairly accurate solution, a fuzzy model of inverse kinematics for PUMA robot is constructed.

저자

오갑석 | Oh, Kab-Suk
고경천 | Ko, Gyeong-Chun
강근택 | Kang, Geun-Taek

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