Discretization and fitting of nominal data for autonomous robots
Nuno Mendes, Pedro Neto, Norberto Pires, Altino Loureiro
TL;DR
This paper introduces methods for discretizing nominal robot paths from CAD drawings and proposes a fuzzy-PI based hybrid control system to enhance robot autonomy and path adjustment using sensory feedback.
Contribution
It presents novel discretization techniques for robot paths and a hybrid force/motion control system based on Fuzzy-PI control to improve autonomous robot operation.
Findings
Effective path discretization from CAD data
Enhanced robot autonomy through sensory feedback
Improved path adjustment accuracy
Abstract
This paper presents methodologies to discretize nominal robot paths extracted from 3-D CAD drawings. Behind robot path discretization is the ability to have a robot adjusting the traversed paths so that the contact between robot tool and work-piece is properly maintained. In addition, a hybrid force/motion control system based on Fuzzy-PI control is proposed to adjust robot paths with external sensory feedback. All these capabilities allow to facilitate the robot programming process and to increase the robots autonomy.
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