Online learning of B-spline fuzzy controller to acquire sensor-based assembly skills
نویسندگان
چکیده
We present an on line learning approach for devel oping sensor based controllers and show how it can make the programming of assembly tasks easier We suggest to combine the qualitative modelling of human expert skills and the self tuning of control parameters so that a controller for a complex assembly task can be e ciently developed It is then discussed how to construct a fuzzy controller with B splines and why rapid convergence of its learning can be achieved To apply the concept in a screwing operation we pro pose several gradual steps of active on line learning Experiments were carried out with two independently controlled robot arms Although general purpose jaw grippers are used and diverse uncertainties exist the elevator control of a toy aircraft can be robustly built
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