Integer Inverse Kinematics for Arm Control of a Compact Autonomous Robot

This paper proposes a new and simplified method of motion interpolation based on integer inverse kinematics to control the arm of a compact autonomous robot. The proposed method is based on fuzzy logic control, and hence, facilitates the construction of a joint control model and enables target point tracking control while interpolating fingertip coordinates on a two-dimensional plane. The validity of the proposed control model is verified by the target point tracking control of the fingertip with respect to the input coordinates through experiments. The proposed integer inverse kinematics method used in the experiments was confirmed to be applicable to a compact autonomous robot system. The experimental results indicated that the control error level between the input coordinates on the two-dimensional plane and the fingertip coordinates of the robotic arm was desirable. Moreover, the motions of the robotic arm were similar to those of humans.