Title :
Fuzzy controller synthesis in robotic assembly: procedure and experiments
Author :
Nuttin, Marnix ; Van Brussel, Hendrik ; Baroglio, Cristina ; Piola, Roberto
Author_Institution :
Dept. of Mech. Eng., Katholieke Univ., Leuven, Belgium
Abstract :
In controller synthesis for basic robotic assembly tasks, the optimal performance is characterized by high level criteria. Performance of a peg-into-hole task is, for example, measured in insertion time and average/maximum force level. Moreover, the unknown optimal control of a peg-into-hole task was shown to be nonlinear. Fuzzy rules are used in our approach to approximate this nonlinear control. The fuzzy controller synthesis can be automated with the use of a machine learning tool SMART+, provided that examples are available. Besides examples, SMART+ can also handle domain knowledge as input. Its output can also be a learning fuzzy controller, in order to achieve online performance improvement. The paper presents this approach and initial experiments
Keywords :
assembling; control system synthesis; fuzzy control; industrial robots; learning systems; nonlinear control systems; fuzzy controller synthesis; fuzzy rules; insertion time; machine learning tool SMART+; nonlinear control; optimal control; peg-into-hole task; robotic assembly; Automatic control; Force measurement; Fuzzy control; Machine learning; Optimal control; Robot control; Robot sensing systems; Robotic assembly; Robotics and automation; Uncertainty;
Conference_Titel :
Fuzzy Systems, 1994. IEEE World Congress on Computational Intelligence., Proceedings of the Third IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-1896-X
DOI :
10.1109/FUZZY.1994.343648
