Abstract
Owing to the relative difficulty in achieving contour tracking on 3D objects, 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 reduce the noise errors of the measurement. Moreover, the radius compensating method is used to correct the measured data. The Cartesian manipulator is tested and calibrated beforehand. Results in this study demonstrate the feasibility of the control strategy proposed herein.
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