Application of self-tuning fuzzy controller for a Cartesian manipulator onunknown contours

Owing to the relative difficulty in achieving contour tracking on 3D object s, this study presents a novel compliant motion controller by applying the self-tuning fuzzy control to have a Cartesian manipulator implement contour tracking on unknown contours. A data fitting method is also developed to r educe the noise errors of the measurement. Moreover, the radius compensatin g method is used to correct the measured data. The Cartesian manipulator is tested and calibrated beforehand. Results in this study demonstrate the fe asibility of the control strategy proposed herein. (C) 2000 Elsevier Scienc e Ltd. All rights reserved.