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.
Fuzzy; robot arm; PID; Puma260
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11392/517424
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