Recognition and Teaching of Robot Skills by Fuzzy Time-Modeling
نویسندگان
چکیده
Robot skills are low-level motion and/or grasping capabilities that constitute the basic building blocks from which tasks are built. Teaching and recognition of such skills can be done by Programming-by-Demonstration approach. A human operator demonstrates certain skills while his motions are recorded by a datacapturing device and modeled in our case via fuzzy clustering and Takagi-Sugeno modeling technique. The resulting skill models use the time as input and the operator’s actions and reactions as outputs. Given a test skill by the human operator the robot control system recognizes the individual phases of skills and generates the type of skill shown by the operator.
منابع مشابه
Workspace Boundary Avoidance in Robot Teaching by Demonstration Using Fuzzy Impedance Control
The present paper investigates an intuitive way of robot path planning, called robot teaching by demonstration. In this method, an operator holds the robot end-effector and moves it through a number of positions and orientations in order to teach it a desired task. The presented control architecture applies impedance control in such a way that the end-effector follows the operator’s hand with d...
متن کاملDiscrete time robust control of robot manipulators in the task space using adaptive fuzzy estimator
This paper presents a discrete-time robust control for electrically driven robot manipulators in the task space. A novel discrete-time model-free control law is proposed by employing an adaptive fuzzy estimator for the compensation of the uncertainty including model uncertainty, external disturbances and discretization error. Parameters of the fuzzy estimator are adapted to minimize the estimat...
متن کاملA New Type-2 Fuzzy Systems for Flexible-Joint Robot Arm Control
In this paper an adaptive neuro fuzzy inference system based on interval Gaussian type-2 fuzzy sets in the antecedent part and Gaussian type-1 fuzzy sets as coefficients of linear combination of input variables in the consequent part is presented. The capability of the proposed method (we named ANFIS2) to function approximation and dynamical system identification is shown. The ANFIS2 structure ...
متن کاملRobot Arm Performing Writing through Speech Recognition Using Dynamic Time Warping Algorithm
This paper aims to develop a writing robot by recognizing the speech signal from the user. The robot arm constructed mainly for the disabled people who can’t perform writing on their own. Here, dynamic time warping (DTW) algorithm is used to recognize the speech signal from the user. The action performed by the robot arm in the environment is done by reducing the redundancy which frequently fac...
متن کاملDesign of an Adaptive Fuzzy Estimator for Force/Position Tracking in Robot Manipulators
This paper presents a stable new algorithm for force/position control in robot manipulators. In this algorithm, position vectors are measured by sensors and then used in the control law. Since using force sensor has some issues such as high costs and technical problems, an approach is presented to overcome these issues. In this respect, force sensor is replaced by an adaptive fuzzy estimator to...
متن کامل