Why Use Fuzzy Logic?
For simple structures like the two-joint robotic arm, it is possible to mathematically deduce the angles at the joints given the desired location of the tip of the arm. However with more complex structures (eg: n-joint robotic arms operating in a 3-dimensional input space) deducing a mathematical solution for the inverse kinematics may prove challenging. Using fuzzy logic, we can construct a Fuzzy Inference System that deduces the inverse kinematics if the forward kinematics of the problem is known, hence sidestepping the need to develop an analytical solution. Also, the fuzzy solution is easily understandable and does not require special background knowledge to comprehend and evaluate it. In the following section, a broad outline for developing such a solution is described, and later, the detailed steps are elaborated.
