Discretization and fitting of nominal data for autonomous robots

This paper presents methodologies to discretize nominal robot paths extracted from 3-D CAD drawings. Behind robot path discretization is the ability to have a robot adjusting the traversed paths so that the contact between robot tool and work-piece is properly maintained. In addition, a hybrid force/motion control system based on Fuzzy-PI control is proposed to adjust robot paths with external sensory feedback. All these capabilities allow to facilitate the robot programming process and to increase the robot’s autonomy.

► Discretization and fitting of nominal robot paths extracted from 3-D CAD drawings.
► Discretization of robot paths allows to make adjustments in the pre-programmed paths.
► Implementation of an hybrid force/motion control system based on Fuzzy-PI control.
► The control system improves the contact conditions between the tool and work-piece.
► It was demonstrated that hybrid control improves significantly robot performance.