Discretization and fitting of nominal data for autonomous robots

Abstract

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 robots autonomy.Comment: Expert Systems with Application

Indirect adaptive fuzzy control for industrial robots: A solution for contact applications

“…The robot is preprogrammed (nominal paths) by off-line programming as described in previous studies in which target points are extracted from CAD . In order to integrate the force control loop with the motion control loop the methods presented in (Mendes, Neto, Norberto Pires, & Loureiro, 2013) are implemented. During the movement of the robot the forces and torques measured by the force/torque (F/T) sensor and the current pose of the robot end-effector serve as input to the force/motion control system that outputs adjustments for the nominal path.…”

Compliance control on 6-DOF robot modular manipulator with fuzzy methodology

“…This controller needs four sorts of inputs:a given position and velocity, a set of K(proportional control factor), a set of L(coefficient of the feedback of the fuzzy controller), the torque compensation. The control methodology is designed in (3).…”

“…When cooperating with human, manipulators is required not only to follow the planed trajectory accurately, but to ensure the human safety [3]. A series manipulator is often consist of several joints.…”

An optimal fuzzy-PI force/motion controller to increase industrial robot autonomy

“…Hsieh et al present an optimal predicted fuzzy-PI gain scheduling controller to control the constant turning force process with a fixed metal removal rate under various cutting conditions [25]. Mendes et al present a hybrid solution exploring robot force/motion control and different modalities of discretization and fitting of nominal data [26][27]. Lopes at al.…”