ファジィ制御を用いた複数の空気噴流による平面上複数物体の非接触操作

抄録

We have been studying a noncontact object manipulation on a surface plane by multiple air jets. We could manipulate 3 DOF (X, Y, θ) of a single object, and also 2 DOF (X, Y) of multiple objects in both scattered and collected case. In this report, we try to introduce a fuzzy algorithm as a first step toward the robust control design against the nonlinear effect of the aerodynamics and the change in the plant parameter such as number, size and weight of the controlled objects.