제어로봇시스템학회:학술대회논문집
- 1992.10a
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- Pages.780-785
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- 1992
Vision and force/torque sensor fusion in peg-in-hole using fuzzy logic
삽입 작업에서 퍼지추론에 의한 비젼 및 힘/토오크 센서의 퓨젼
Abstract
We present a multi-sensor fusion method in positioning control of a robot by using fuzzy logic. In general, the vision sensor is used in the gross motion control and the force/torque sensor is used in the fine motion control. We construct a fuzzy logic controller to combine the vision sensor data and the force/torque sensor data. Also, we apply the fuzzy logic controller to the peg-in-hole process. Simulation results uphold the theoretical results.
Keywords