Application of self-tuning fuzzy controller for a Cartesian manipulator on unknown contours

被引：6

作者：

Tung, PC ^{[1
]}

Wang, SR ^{[1
]}

Lo, K ^{[1
]}

机构：

[1] Natl Cent Univ, Dept Engn Mech, Chungli 32054, Taiwan

来源：

INTERNATIONAL JOURNAL OF MACHINE TOOLS & MANUFACTURE | 2000年 / 40卷 / 07期

关键词：

compliance control; Cartesian manipulator; self-tuning; contour tracking; radius compensation; fuzzy control; scanning measurement; coordinate measurement machine; CMM;

D O I：

10.1016/S0890-6955(99)00100-5

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

Owing to the relative difficulty in achieving contour tracking on 3D objects, this study presents a novel compliant motion controller by applying the self-tuning fuzzy control to have a Cartesian manipulator implement contour tracking on unknown contours. A data fitting method is also developed to reduce the noise errors of the measurement. Moreover, the radius compensating method is used to correct the measured data. The Cartesian manipulator is tested and calibrated beforehand. Results in this study demonstrate the feasibility of the control strategy proposed herein. (C) 2000 Elsevier Science Ltd. All rights reserved.

引用

页码：943 / 955

页数：13

共 18 条

[1] Intelligent compliant motion control [J].