대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2003년도 하계학술대회 논문집 D
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- Pages.2447-2449
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- 2003
영상 기반 로붓 제어 시스템을 위한 벡터 양자화 최적 퍼지 시스템 설계
A Design of Vector Quantization Optimal Fuzzy Systems for Vision-Based Robot Control Systems
- Kim, Young-Joong (Department of Electrical Engineering, Korea University) ;
- Kim, Young-Rak (Department of Electrical Engineering, Korea University) ;
- Kim, Beom-Soo (Department of Electrical Engineering, Korea University) ;
- Lim, Myo-Taeg (Department of Electrical Engineering, Korea University)
- 발행 : 2003.07.21
초록
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.
키워드