Two dimensional precise positioning using an impulse force controlled by fuzzy reasoning

Abstract

This paper proposes a new positioning method which taps the object by a robot with a flexible link hammer. An impulsive force generated by tapping is effective to actuate the object with very high resolution. The intensity and tapping point of the impulsive force are controlled by fuzzy reasoning. It is seen from experiments that the proposed method can control the position of the object in high accuracy.