Diaz-Robainas, Regino R.

A PC-based Expert System that uses symbolic manipulations and an inference engine rule-based system to solve direct and inverse kinematics of revolute-jointed manipulators of arbitrary configuration is presented and discussed. Similar applications in the areas of Discrete Signal Processing and Optimal Control are analyzed.

A methodology is presented to construct an approximate fuzzy-mapping algorithm that maps multiple inputs to single outputs given a finite training set of argument vectors functionally linked to corresponding scalar outputs. Its scope is limited to problems where the features are known in advance, or equivalently, where the expected functional representation is known to depend exclusively on the known selected variables. Programming and simulations to implement the methodology make use of Matlab Fuzzy and Neural toolboxes and a PC application of Prolog, and applications range from approximate representations of the direct kinematics of parallel manipulators to fuzzy controllers.