This paper presents a new strategy for robotic manipulator inverse kinematics, which senses the final position error of the end-effector through an observational error model based on an Internet Protocol (IP) camera and calculates the joint variable errors through two fuzzy control techniques. Single Stage Fuzzy Controller (SSFC) and Three Stages Fuzzy Controller (TSFC) served as an inverse kinematic model to 3 degrees of freedom (DOF) robot manipulator. The inputs to the controller were the errors in the end-effector position Δx, Δy, Δz and the outputs of the controller were the controlled changes in the angular displacements of the joints. The fuzzy controller was utilized to compensate for geometric errors and non-geometric errors in the robot manipulator. Autodesk Inventor software was used for modeling the robot manipulator and make the transition to Simulink through the SimMechanics link for trajectory simulation. The simulation during the uncertainty of link length and end-effector load was implemented to show the proposed control model effectiveness. The gas leak test in an automotive exhaust system was applied to locate the crack position as an experimental validation of the proposed model in real-world applications.

本文提出了一种机器人机械手逆运动学的新策略，该策略通过基于Internet协议（IP）摄像机的观测误差模型来感知末端执行器的最终位置误差，并通过两种模糊控制技术来计算关节变量误差。单级模糊控制器（SSFC）和三级模糊控制器（TSFC）用作3自由度（DOF）机器人操纵器的逆运动学模型。控制器的输入是末端执行器位置Δx，Δy，Δz的误差，控制器的输出是关节的角位移的受控变化。模糊控制器用于补偿机器人操纵器中的几何误差和非几何误差。使用Autodesk Inventor软件对机器人操纵器进行建模，并通过SimMechanics链接转换为Simulink，以进行轨迹仿真。在链节长度和末端执行器负载不确定性期间进行了仿真，以显示所提出的控制模型的有效性。应用汽车排气系统中的气体泄漏测试来定位裂纹位置，作为在实际应用中对提出的模型进行的实验验证。