Path Planning of Redundant Manipulator based on FCM

V. Agarwal (India)


Robotics, Path planning, AI, Fuzzy-logic, FCM, Clustering


In this article problem of differential motion of redundant manipulator using a new non-heuristic algorithm based on FCM (fuzzy clustering method) is proposed. A systematic and simple method of calculating design parameters of fuzzy modeling system is proposed, instead of the heuristic approach reported in the literature. In order to understand the proposed algorithm and to show the performance, two simulation studies with “manipulability” performance criteria has been proposed, developed and investigated and it is concluded that proposed method is better compare to conventional numerical method.

Important Links:

Go Back