This paper presents a very simple fuzzy pid non linear algorithm used to control a Puma 260 robot arm. On the end effector of the robot is mounted a CCD b/w camera, and by means of this camera the system performs the tracking of an object moving on a plane parallel to the CCD. The paper presents the results of practical experiments and the comparison between the fuzzy algorithm and a previous non linear PID algorithm.
A non linear fuzzy PID controller for robotic visual-servoing
MAINARDI, Elena;BONFE', Marcello
2004
Abstract
This paper presents a very simple fuzzy pid non linear algorithm used to control a Puma 260 robot arm. On the end effector of the robot is mounted a CCD b/w camera, and by means of this camera the system performs the tracking of an object moving on a plane parallel to the CCD. The paper presents the results of practical experiments and the comparison between the fuzzy algorithm and a previous non linear PID algorithm.File in questo prodotto:
Non ci sono file associati a questo prodotto.
I documenti in SFERA sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
