A Fuzzy Robot Controller for the Placement of Fabrics on a Work Table

Authors:	Zoumponos George, University of Patras, Greece Aspragathos Nikolaos A., University of Patras, Greece
Topic:	5.1 Manufacturing Plant Control
Session:	Advanced Manufacturing Automation
Keywords:	Automation, Fuzzy control, Fuzzy systems, Handling, Robots.

Abstract

In this paper, a fuzzy system for the control of the task of laying a fabric on a table via a robot is introduced. The task of laying is investigated and the parameters affecting the appropriate guiding of the fabric are identified to formulate the rule base for the fuzzy control system, which is tuned experimentally. The fuzzy control system formed is then verified by testing the laying of fabrics with different characteristics than the ones used in the formulation of the rule base. The conclusions drawn bring forward the future research on the advancement of robot intelligence and flexibility.