Discretization and fitting of nominal data for autonomous robots

被引：18
作者：
Mendes, Nuno [1 ]
Neto, Pedro [1 ]
Norberto Pires, J. [1 ]
Loureiro, Altino [1 ]
机构：
[1] Univ Coimbra, Dept Mech Engn CEMUC POLO 2, P-3030788 Coimbra, Portugal
来源：
EXPERT SYSTEMS WITH APPLICATIONS | 2013年 / 40卷 / 04期
关键词：
Autonomous robots; Fuzzy logic; PI control; Discretization; Off-line programming; Robotics; LOCAL INTERPOLATION; FORCE CONTROL; FUZZY; CONTROLLER; SYSTEMS; DESIGN;
D O I：
10.1016/j.eswa.2012.08.023
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents methodologies to discretize nominal robot paths extracted from 3-D CAD drawings. Behind robot path discretization is the ability to have a robot adjusting the traversed paths so that the contact between robot tool and work-piece is properly maintained. In addition, a hybrid force/motion control system based on Fuzzy-PI control is proposed to adjust robot paths with external sensory feedback. All these capabilities allow to facilitate the robot programming process and to increase the robot's autonomy. (C) 2012 Elsevier Ltd. All rights reserved.
引用
收藏
页码：1143 / 1151
页数：9
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