Discretization and fitting of nominal data for autonomous robots

Authors:
Nuno Mendes;Pedro Neto;J. Norberto Pires;Altino Loureiro
Affiliations:
Department of Mechanical Engineering (CEMUC)-POLO II, University of Coimbra, 3030-788 Coimbra, Portugal;Department of Mechanical Engineering (CEMUC)-POLO II, University of Coimbra, 3030-788 Coimbra, Portugal;Department of Mechanical Engineering (CEMUC)-POLO II, University of Coimbra, 3030-788 Coimbra, Portugal;Department of Mechanical Engineering (CEMUC)-POLO II, University of Coimbra, 3030-788 Coimbra, Portugal
Venue:
Expert Systems with Applications: An International Journal
Year:
2013

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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 robot's autonomy.