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