Discretization and fitting of nominal data for autonomous robots

作     者：Mendes, Nuno Neto, Pedro Norberto Pires, J. Loureiro, Altino 

作者机构：Univ Coimbra Dept Mech Engn CEMUC POLO 2 P-3030788 Coimbra Portugal 

出 版 物：《EXPERT SYSTEMS WITH APPLICATIONS》 (专家系统及其应用)

年 卷 期：2013年第40卷第4期

页      面：1143-1151页

核心收录：

学科分类：1201[管理学-管理科学与工程(可授管理学、工学学位)] 0808[工学-电气工程] 08[工学] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

主　　题：Autonomous robots Fuzzy logic PI control Discretization Off-line programming Robotics 

摘      要：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 robot s autonomy. (C) 2012 Elsevier Ltd. All rights reserved.