This paper presents methodologies to discretize nominal robot paths extracted from 3-D CAD drawings. Behind robot path discretization is the ability to have a robot adjusting the traversed paths so that the contact between robot tool and work-piece is properly maintained. In addition, a hybrid force/motion control system based on Fuzzy-PI control is proposed to adjust robot paths with external sensory feedback. All these capabilities allow to facilitate the robot programming process and to increase the robots autonomy.
@article{arxiv.1309.2081,
title = {Discretization and fitting of nominal data for autonomous robots},
author = {Nuno Mendes and Pedro Neto and Norberto Pires and Altino Loureiro},
journal= {arXiv preprint arXiv:1309.2081},
year = {2013}
}