Abstract
An advanced robot system should be able to make independent decisions with the aid of diverse sensor information. Fuzzy logic is an appropriate tool to model and describe human experience and intuitive knowledge for decision-making. In this paper, we present a realization of a peg-in-hole operation with a fuzzy logic control approach. The sensor data of a force/torque sensor and a mini-camera vision system are integrated, and the fused information is used in order to decide the motion of the robot gripper for performing the insert operation. The information of these two sensors is used complementary to support the assembly process. Every data of a sensor is a weighted evidential information which influences the fuzzy inference. Additional sensors will be integrated in the next project phase. The above described research work is supported by the DFG German Research Council under contract SPP-RE489/22-2 and carried out at the Institute for Real-time Computer Systems and Robotics of the University of Karlsruhe.
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© 1993 ECSC-EEC-EAEC, Brussels-Luxembourg
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Zhang, J., Raczkowsky, J. (1993). Sensor Fusion in a Peg-In-Hole Operation with a Fuzzy Control Approach. In: Pfleger, S., Gonçalves, J., Vernon, D. (eds) Data Fusion Applications. Research Reports ESPRIT, vol 1. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-84990-9_8
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DOI: https://doi.org/10.1007/978-3-642-84990-9_8
Publisher Name: Springer, Berlin, Heidelberg
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