Hedge-Algebras-Based Controller for Mechanisms of Relative Manipulation
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Mechanisms of relative manipulation (MRM robot) has become an interesting topic in recent years which aims to enhance the flexibility and the accuracy in mechanical manufacturing processes. However, the identification of exactly dynamical equations of MRM robot is tough and time-consuming; and the modeling error is inevitable. It is difficult to control MRM robot via vector algorithms since these methods require exactly dynamical equations of control systems. To this end, advanced controllers based on the inference mechanism of fuzzy logic are presented to overcome above problems. Unfortunately, the order relationships between the linguistic terms must be utilized by human experts when building the fuzzy-rule-base of fuzzy controller because there is no formalized liaison of the fuzzy sets with the natural linguistic term semantics. This paper proposes an alternative solution for controlling MRM robot that based on a bilinear-hedge-algebra approach. To our best knowledge, a controller based on such algebraic approach is firstly considered for application in robotics. The proposed method discovers order-based semantic relationships of terms and term-domains. Besides, the normalization, denormalization and composition operators of the fuzzy logic are eliminated. The proposed controller is evaluated by conducting a welding task using a two-component mechanism.
KeywordsMechanisms of relative manipulation Algebraic approach Fuzzy controller Hedge-algebras Natural linguistic semantics
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