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The paper presents the design of a fuzzy controller to emulate spline curves for generating smooth motion trajectories. Spline models and a fuzzy control model are compared. Based on this comparison, a fuzzy control model is devised to make the robot continuously pass through the planned subgoals guiding the robot motion. By analyzing primitive movements along subgoals, the rule base can be developed. System structures are proposed for applying this fuzzy controller in the hierarchical motion control of robot systems. Its applications in robot arms and mobile robots are also presented.>
Zhang et al. (1994) studied this question.