Application of self-tuning fuzzy controller for a Cartesian manipulator on unknown contours

Pi Cheng Tung, Sun Run Wang, Kai Lo

Research output: Contribution to journalArticlepeer-review

5 Scopus citations

Abstract

Owing to the relative difficulty in achieving contour tracking on 3D objects, this study presents a novel compliant motion controller by applying the self-tuning fuzzy control to have a Cartesian manipulator implement contour tracking on unknown contours. A data fitting method is also developed to reduce the noise errors of the measurement. Moreover, the radius compensating method is used to correct the measured data. The Cartesian manipulator is tested and calibrated beforehand. Results in this study demonstrate the feasibility of the control strategy proposed herein.

Original languageEnglish
Pages (from-to)943-955
Number of pages13
JournalInternational Journal of Machine Tools and Manufacture
Volume40
Issue number7
DOIs
StatePublished - May 2000

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