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URN etd-0819104-115332 Statistics This thesis had been viewed 4051 times. Download 1316 times. Author Chung-Jen Hsieh Author's Email Address firstname.lastname@example.org Department Mechanical Engineering Year 2003 Semester 2 Degree Master Type of Document Master's Thesis Language English Page Count 47 Title An Intelligent Control System with Automatic Training
for Improvement of Robot Position Control
Keyword Vision System Robot Position Control Fuzzy Logic Control Artificial Neural Network Artificial Neural Network Fuzzy Logic Control Robot Position Control Vision System Abstract To improve position control of vision robot, an intelligent control system which consists of two ANNs and one FLC is used to eliminate the position error due to the model inaccuracy. One ANN in the feedforward path is used to compensate the major position error and the other ANN in the feedback path is used to correct the minor error. Besides, the FLC is applied to adjust the position error between the target and end-effector. In order to save human effort, the data for training the ANNs is automatically acquired. The experiment results show that the performance of the judging algorithm used in the automatic data acquiring is as good as manual teaching and the control system proposed can be used for peg-in-hole insertion. Advisor Committee Yen-Cheng Lin - advisor
Guan-Chun Luh - co-chair
Yin-Tien Wang - co-chair
Files Date of Defense 2004-07-27 Date of Submission 2004-08-19