Fuzzy expert control of coordinated robots using 3D measurements of human arm motions: coordinated motion control

Kiyo Matsuoka; Hunghsu Tsai

doi:10.1117/12.164964

29 November 1993 Fuzzy expert control of coordinated robots using 3D measurements of human arm motions: coordinated motion control

Kiyo Matsuoka, Hunghsu Tsai

Author Affiliations +

Proceedings Volume 2063, Vision, Sensors, and Control for Automated Manufacturing Systems; (1993) https://doi.org/10.1117/12.164964
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

For multi-robot coordination experiments, traditional algorithmic approaches through partial optimization methods have given incomplete solutions with very heavy computational burdens. Complete neural-fuzzy solutions are still in exploratory stages, and are yet to be worked out. This paper addresses problems of planning coordinated robot motions by applying 3D measurement of human arm motions. This paper then proposes an improved fuzzy expert controller which executes optimally-planned paths given by the coordinated-motion planner. This fuzzy controller consists of a rule-based fuzzy tuner and intermittent algorithmic optimizer.

Citation Download Citation

Kiyo Matsuoka and Hunghsu Tsai "Fuzzy expert control of coordinated robots using 3D measurements of human arm motions: coordinated motion control", Proc. SPIE 2063, Vision, Sensors, and Control for Automated Manufacturing Systems, (29 November 1993); https://doi.org/10.1117/12.164964

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