Evolutionary-based virtual training in extracting fuzzy knowledge for deburring tasks

Shun Feng Su*, Tar Jyh Horng, Kuu-Young Young

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

8 Scopus citations

Abstract

In this research, the problems of how to teach a robot to execute skilled operations are studied. Human workers usually accumulate their experience after executing the same task repetitively. In the process of training, a worker needs to find ways of adjusting his/her execution. In our system, the parameters for an impedance control scheme are considered as the targets for adjustment in the training process. The way to make adjustments is represented as a set of fuzzy rules in our research. Furthermore, a training scheme, called the evolutionary-based virtual training scheme, is proposed to extract knowledge (a set of fuzzy rules) for robotic deburring tasks. In this approach, an evolutionary algorithm is employed to find the best set of fuzzy rules and a simulation system is built to evaluate the execution performances of candidates. This learning scheme has been applied in finding a set of fuzzy rules that can adjust the parameters of impedance controllers required in deburring operations with satisfactory performance in deburring tasks.

Original languageEnglish
Pages (from-to)193-202
Number of pages10
JournalJournal of the Chinese Institute of Engineers, Transactions of the Chinese Institute of Engineers,Series A/Chung-kuo Kung Ch'eng Hsuch K'an
Volume27
Issue number2
DOIs
StatePublished - 1 Jan 2004

Keywords

  • Deburring tasks
  • Evolutionary algorithms
  • Fuzzy rule extracting
  • Virtual training

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