Application of fuzzy on-line self-adaptive controller for a contour tracking robot on unknown contours

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Please use this identifier to cite or link to this item: http://ir.lib.ncu.edu.tw/handle/987654321/27023

Title:	Application of fuzzy on-line self-adaptive controller for a contour tracking robot on unknown contours
Authors:	Tung,PC;Fan,SN
Contributors:	機械工程學系
Keywords:	N/A
Date:	1996
Issue Date:	2010-06-29 18:05:48 (UTC+8)
Publisher:	中央大學
Abstract:	Modelling a contour tracking robot on unknown contours is a relatively difficult task. Therefore, a new compliant motion controller is developed in this study by applying the on-line rule-adaptive fuzzy control to have a Cartesian manipulator perform contour tracking on unknown contours. Also, the contact force is controlled here within a certain constant value and the manipulator is controlled along the tangent direction in which the manipulator is unconstrained. Experimental results verify the feasibility of our designed control strategy.
Relation:	FUZZY SETS AND SYSTEMS
Appears in Collections:	[Graduate Institute of Mechanical Engineering] journal & Dissertation

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