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Proceedings Paper

A fuzzy adaptive PD-controller-based micro-assembly system
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Paper Abstract

Proportional control based visual controller is the main method used in the visual serving, but small proportional gain results in the slowly response and large proportional gain will result in large overshoot or make the system instable. A PD visual controller for microassembly system is presented to acquire better dynamic response. The fuzzy logic is applied to tuning the controller gains which is a model free method. Thus, the difficulty in obtaining precise and detailed system model is avoided and we can get satisfactory performance which is robust to modeling error and external disturbances. Furthermore, image moments are selected as visual features to avoid image singularities and the Jacobian matrix is full rank and upper triangular, thus it has the maximal decoupled structure and simplified the controller. A series of simulations are performed on peg and hole assembly to investigate the feasibility and effectiveness of this method.

Paper Details

Date Published: 12 October 2006
PDF: 10 pages
Proc. SPIE 6374, Optomechatronic Actuators, Manipulation, and Systems Control, 63740R (12 October 2006); doi: 10.1117/12.686804
Show Author Affiliations
Junping Wang, Korea Advanced Institute of Science and Technology (South Korea)
Xi'an Jiaotong Univ. (China)
Xiaodong Tao, Korea Advanced Institute of Science and Technology (South Korea)
Deokhwa Hong, Korea Advanced Institute of Science and Technology (South Korea)
Hyungsuck Cho, Korea Advanced Institute of Science and Technology (South Korea)


Published in SPIE Proceedings Vol. 6374:
Optomechatronic Actuators, Manipulation, and Systems Control
Farrokh Janabi-Sharifi; Yukitoshi Otani, Editor(s)

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