Title :
A neuro-fuzzy solution for integrated visual and force control
Author :
Von Collani, Yorck ; Scheering, Christian ; 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 using uncalibrated cameras 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 and for fusing input from different sensors. Controllers of this type can be modularly combined to solve a given assembly problem
Keywords :
assembling; computer vision; force control; fuzzy control; industrial robots; neurocontrollers; position control; sensor fusion; splines (mathematics); B-spline; assembly; computer vision; force control; fuzzy control; industrial robots; neurocontrol; position control; sensor fusion; visual guided control; Cameras; Force control; Force sensors; Fuzzy control; Fuzzy systems; Input variables; Intelligent robots; Robot sensing systems; Robot vision systems; Robotic assembly;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, 1999. MFI '99. Proceedings. 1999 IEEE/SICE/RSJ International Conference on
Conference_Location :
Taipei
Print_ISBN :
0-7803-5801-5
DOI :
10.1109/MFI.1999.815978
