In order to carry out the tasks of grinding, deburring, polishing, or wiping, the end-effector of the robot manipulator has to follow the contour of an object. In this paper, we propose a fuzzy vector method, which enables the controller to deal efficiently with force sensor signals which include noise and/or unknown vibrations caused by the working tool, to search the direction of the constraint surface of an unknown object.
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Electrical and Electronic Engineering