Abstract
By using the dynamic on-line fuzzy interpolation technique presented in this chapter, the position errors in a modeless robot calibration can be greatly reduced. The effectiveness of using the proposed technique is confirmed by the simulation studies, in which three typical error models, sinusoid waveform, normal distributed and uniform distributed errors, are utilized. This fuzzy interpolation technique is suitable for the modeless robot position compensation. One drawback of the proposed method is its computational complexity in comparison to the linear interpolation method. With the advance of real-time operating systems, the difficulty due to this problem for on-line applications will be greatly reduced.
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