Motion Planning of Redundant Robots with Singularities Using Transputer Based Fuzzy Inverse Kinematic Method

  • Chih-Jer Lin
  • Chieh-Li Chen
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4114)


The Fuzzy Inverse Kinematic Mapping Method (FIKM) is used to solve the inverse kinematics for the redundant robots with singularities. This method has some advantage due to the less computation load and robustness to the singularity. The method has also been implemented on a transputer-based parallel processing system to solve the motion planning problem of the redundant robots with singularity.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Chih-Jer Lin
    • 1
  • Chieh-Li Chen
    • 2
  1. 1.Department of Mechanical and Automation Engineering, Da-yeh University, 112 Shan-Jau Rd., Da-Tusen, Chang-Hwa,TaiwanChina
  2. 2.Department of Aeronautics and Astronautics, National Cheng-Kung University, 1 University Rd., Tainan, TaiwanChina

Personalised recommendations