A fuzzy-logic based method for avoiding joint limits and obstacles in kinematically redundant manipulators is presented. A comparison is made with the gradient projection method (GPM) for avoiding joint limits and obstacles. The fuzzy-logic based method automatically chooses an appropriate magnitude of self-motion using linguistic rules. The method is simple and is physically reliable. Its effectiveness has been demonstrated by computer simulation.
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Ahson et al. (2002) studied this question.
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