Inverse kinematics solution for robotic manipulators based on fuzzy logic and PD control

This paper presents a new general and fast scheme for solving the inverse kinematics problem (IKP) of the multilink robot arm. The proposed strategy is general as in it is independent of the geometry of the robot arm or its number of degrees of freedom (DOF) and only the forward kinematics is required. The proposed method is a closed-loop strategy in which the IKP is restated as a control problem for a dynamic system and the objective is providing a good trajectory tracking performance. Therefore, PD-like fuzzy controller is used as the controller for this system. Different Cartesian trajectories with different configurations of robotic arm are simulated to demonstrate the effectiveness and generality of the proposed method.