A Design of Vector Quantization Optimal Fuzzy Systems for Vision-Based Robot Control Systems

영상 기반 로붓 제어 시스템을 위한 벡터 양자화 최적 퍼지 시스템 설계

In this paper, optimal fuzzy systems using vector quantization and fuzzy logic controllers are designed for vision-based robot control systems. The complexity of the optimal fuzzy system for vision-based control systems is so great that it can not be applied to real vision-based control systems or it can not be useful, because there are so many input-output pairs. Therefore, we generally use the clustering of input-output pairs, in order to reduce the complexity of optimal fuzzy systems. To increase the effectiveness of the clustering, a vector quantization clustering method is proposed. In order to verify the effectiveness of the proposed method experimentally, it is applied to a vision-based arm robot control system.