삽입 작업에서 퍼지추론에 의한 비젼 및 힘/토오크 센서의 퓨젼

Vision and force/torque sensor fusion in peg-in-hole using fuzzy logic

We present a multi-sensor fusion method in positioning control of a robot by using fuzzy logic. In general, the vision sensor is used in the gross motion control and the force/torque sensor is used in the fine motion control. We construct a fuzzy logic controller to combine the vision sensor data and the force/torque sensor data. Also, we apply the fuzzy logic controller to the peg-in-hole process. Simulation results uphold the theoretical results.