Title :
A neuro-fuzzy solution for fine-motion control based on vision and force sensors
Author :
Von Collani, Yorck ; Zhang, Jianwei ; Knoll, Alois
Author_Institution :
Dept. of Tech. Comput. Sci., Bielefeld Univ., Germany
Abstract :
In this paper the use of a B-spline neuro-fuzzy model for different tasks such as vision-based fine-positioning and force control is presented. It is shown that neuro-fuzzy controllers can be used not only for low-dimensional problems like force control but also for high-dimensional problems like vision-based sensorimotor control. Controllers of this type can be modularly combined to solve a given assembly problem
Keywords :
force control; force measurement; fuzzy control; fuzzy neural nets; neurocontrollers; robot vision; splines (mathematics); B-spline neuro-fuzzy model; fine-motion control; fine-positioning; force control; force sensors; low-dimensional problems; vision sensors; vision-based sensorimotor control; Force control; Force sensors; Fuzzy control; Image processing; Input variables; Pixel; Robot sensing systems; Robot vision systems; Service robots; Testing;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.680765
