OPTIMAL PLANNING TECHNIQUE WITH A FUZZY COORDINATOR FOR AN INTELLIGENT ROBOTS PART ASSEMBLY

A method of the optimal planning technique with a fuzzy co-ordinator f or an intelligent robot's part assembly is introduced. A fuzzy intelli gent organising control strategy, based on a fuzzy rulebase and derive d from measured force/moment data, for a robotic device performing qua sistatic assembly tasks is presented. Fuzzy set theory, which is well suited to manage the uncertainty problem. is introduced to deal with t he uncertainty associated with a part assembly. Fuzzy entropy is emplo yed to measure the uncertainty (= fuzziness) as it is related to speci fic control actions. The top organising level determines the most appr opriate sequence of events of plan with minimum fuzziness by utilising the knowledge processing functions, such as machine memory, inferenci ng, planning, and decision-making, and downlinks it to the lower level of the system that carries out the specified task. Experimental resul ts show the effectiveness of the proposed approach.