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This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License
Article
Author(s)
Ying Bai1 and Dali Wang2
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DOI:10.17265/2328-2231/2016.02.003
Affiliation(s)
1. Department of Computer Science and Engineering, Johnson C. Smith University, Charlotte 28216, USA
2. Department of Physics and Computer Science, Christopher Newport University, Newport News 23606, USA
ABSTRACT
This paper is an extended research
for a novel technique used in the pose error compensations of the robot and manipulator
calibration process based on an IT2FEI (interval type-2 fuzzy error interpolation) method.
Robot calibrations can be classified
into model-based and modeless methods. A model-based calibration method normally
requires that the practitioners understand the kinematics of the robot therefore
may pose a challenger for field engineers. An alternative yet effective means for
robot calibration is to use a modeless method; however with such a method there
is a conflict between the calibration accuracy of the robot and the number of grid
points used in the calibration task. In this paper, an interval type-2 fuzzy interpolation
system is applied to improve the compensation accuracy of the robot in its 3D workspace.
An on-line type-2 fuzzy inference system is implemented to meet the needs of on-line
robot trajectory planning and control. The simulated results given in this paper
show that not only robot compensation accuracy can be greatly improved, but also
the calibration process can be significantly simplified, and it is more suitable
for practical applications.
KEYWORDS
Type-2 fuzzy interpolations, interval type-2 fuzzy logic, modeless robotic calibrations, robot kinematics, type-2 fuzzy control.
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