Fuzzy Logic in Tasks of Handling Robots Control

The theory of indistinct sets and the logic, based on it, allow one to describe inaccurate categories, representations and knowledge, operate with them and make the corresponding conclusions. Such opportunities for the formation of models of various objects and processes at the qualitative, conceptual level defines interest in the organization of intellectual control on the basis of application of fuzzy logic methods. The methods of a fuzzy logic provide a possibility to form simple and functionally efficient models for the movement control of handling robots including the excess kinematic structure. The application of a fuzzy logic to control a handling robot is described, the assumption is accepted that the model of indistinct control of the manipulator is constructed as a set of three independent singly connected contours, each of which controls the change of one of the generalized coordinates. The model is based on the assumption that it is necessary to reduce in proportion the increments of the generalized coordinates of separate links in the process of approximation of the current position of a kinematic chain to its given state. The author carried out the calculations to find out the dependence of change of the manipulator generalized coordinate' increments and mismatches of its current and target provisions. The method of use of fuzzy logic for the manipulator control is offered.