Discretization and fitting of nominal data for autonomous robots
نویسندگان
چکیده
This paper presents methodologies to discretise nominal robots 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.
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عنوان ژورنال:
- Expert Syst. Appl.
دوره 40 شماره
صفحات -
تاریخ انتشار 2013