Fuzzy controlled compliance in automatic assembly

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Nguyen, Ngoc Phuong
Department of Electrical and Computer Engineering
thesis / dissertation description
Compliance is an instinctive part of any complex manipulation task particularly automatic assembly. Human operators perform such motion easily by using kinaesthetic force and tactile information without the knowledge of the dynamics of the underlying process. The human beings have ability to adapt with new circumstances and learn from experience. There has been a significant amount of work to provide such ability for industrial robots using sensed feedback information and modifying the position or velocity of the tool-tip. Neural network and fuzzy control have been key components in this process. In this work an alternative approach based on fuzzy logic is proposed to produce compliant motion in automatic assembly. The suggested technique operates more similarly to a human operator performing manual assembly. It can manage the non-Hnearity and uncertainty of an assembly process. In this work an assembly is modelled by the peg-in-hole insertion.