FUZZY CONTROLLED ROBOT-ARM CATCHING A MOVING OBJECT USING IMAGE PROCESSING TECHNIQUE.

A robot-arm system which is able to catch a moving object on a belt-conveyor at a various speed is built. The system works based on fuzzy-inference rules with the aid of image processing techniques. The main idea is based on the concept of probabilistic sets in extended fuzzy expression. Ambiguous instructions in terms of membership and vagueness are generated by the robot itself using imagery data from a CCD-camera. Each of these instructions consists of three fuzzy items. Two are input information, and one output information. One of the input fuzzy information is the speed of the moving object, and another is the distance between the robot-hand and the object.