A Fuzzy Expert System for Solving Inverse Dynamics of Robotic Manipulator

The dynamics of a robotic manipulator is of vital significance to its real-time control schemes. The equations related to dynamics of a robotic manipulator are highly non-linear and solving these equations, using the principle of hard computing, is an expensive task computationally. In the present work, an expert system based on fuzzy logic, has been developed to solve the equations of robot dynamics, on-line. The optimal knowledge base (KB) of fuzzy logic-based expert system Is obtained through a GA-based training. Once the expert system Is developed. It can be used on-line, to determine the values of joint torques of the manipulator, for a set of Inputs, namely the joint angles. The effectiveness of the proposed approach is tested by solving dynamics of two degree of freedom manipulator.