Title :
Application of multilayered fuzzy inference to the tracking of the orbit on a two dimensional plane using industrial robot
Author :
Yamane, Satoshi ; Eguchi, Kazuhiko ; Numakura, Masaaki ; Oshima, Kenji
Author_Institution :
Dept. of Environ. Sci. & Human Eng., Saitama Univ., Urawa, Japan
Abstract :
This paper deals with the problem concerning the tracking of the orbit on the two dimensional plane with an arm type welding robot. New methods with a multilayered fuzzy controller are proposed for solving this problem. The performance of a fuzzy controller depends on the fuzzy variables and the control rules. Control rules are constructed from the knowledge of the robot operator. The fuzzy variables can be adjusted owing to the shape of the orbit obtained by using a CCD camera
Keywords :
fuzzy control; industrial manipulators; inference mechanisms; path planning; welding; CCD camera; arm type welding robot; fuzzy controller performance; fuzzy variables; industrial robot; multilayered fuzzy controller; multilayered fuzzy inference; orbit tracking; robot operator; two dimensional plane; Bonding; Computer aided manufacturing; Electric variables control; Fuzzy control; Industrial control; Laser beam cutting; Orbital robotics; Service robots; Shape control; Welding;
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1996., Proceedings of the 1996 IEEE IECON 22nd International Conference on
Conference_Location :
Taipei
Print_ISBN :
0-7803-2775-6
DOI :
10.1109/IECON.1996.570748
