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

Pi Cheng Tung, Shen Nan Fan

Research output: Contribution to journalArticlepeer-review

7 Scopus citations

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.

Original languageEnglish
Pages (from-to)17-25
Number of pages9
JournalFuzzy Sets and Systems
Volume82
Issue number1
DOIs
StatePublished - 1996

Keywords

  • Compliant motion
  • Contour tracking
  • Fuzzy control

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