| Abstract: | The problem of part mating and assembly with close tolerances has been addressed in the past by active or passive compliance and by force/position control. With ambient sensor and transmission noise and with imprecise measurements it is often difficult to attain high precision in manipulator positioning. A compliant wrist position sensor with a fuzzy logic rule base was designed by the author to address this problem. In this article, after a brief review of this sensor, optimization of its fuzzy rule base is discussed. The optimization results are then presented. © 1996 John Wiley & Sons, Inc. |
