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Fuzzy Qualitative Model of a Robot Sensor for Locating Three-dimensional Objects

Published online by Cambridge University Press:  09 March 2009

D.T. Pham  and
K. Hafeez
D.T. Pham
Affiliation:
Automation and Robotics Centre, School of Electrical, Electronics and Systems Engineering, University of Wales College of Cardiff, P.O. Box 904, Cardiff, CF1 3YH (U.K.)
K. Hafeez
Affiliation:
Automation and Robotics Centre, School of Electrical, Electronics and Systems Engineering, University of Wales College of Cardiff, P.O. Box 904, Cardiff, CF1 3YH (U.K.)
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Summary

A fuzzy qualitative model of a robot sensor, presented in this paper, is for locating 3-D objects, and the location information is used to guide the movements of an industrial robot to pick up the objects. The sensor consists of a rigid platform mounted on a flexible column. Each object to be located is held rigidly with respect to the platform. The static deflections of the column and natural frequencies of vibration of the dynamic system comprising the object, platform and column are measured and processed using a mathematical model of the system to determine the location of the object. In practice, the frequency measurements have low repeatability, which leads to inconsistent location information. Also, when the orientation is in the region 80°–90° relative to a reference axis of the sensor, the mathematical model becomes ill-conditioned. In this paper, a fuzzy qualitative model of the sensor is described. The fuzzy model is designed to yield the orientation in the region where the mathematical model is unusable. Different stages for constructing the fuzzy model are described. The on-line implementation of the model is outlined and the experimental results obtained are presented.

Keywords

Fuzzy sets theoryRobot sensorsParts feedingBin picking
Type
Research Article
Information
Robotica , Volume 10 , Issue 6 , November 1992 , pp. 555 - 562
Copyright
Copyright © Cambridge University Press 1992

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