Abstract: It is well known that robotic manipulators are highly nonlinear coupling dynamic systems. It is difficult to establish an appropriate mathematical model for designing a model-based controller. The model-free feature of fuzzy logic control strategy was employed to design robotic motion controller. However, there is no guide rule for designing the fuzzy rule bank and parameters, it still needs time consuming trial-and-error work for rules bank and fuzzy parameters adjustment. We had developed self-organizing fuzzy control and adaptive fuzzy sliding mode control two intelligent learning mechanism for solving this implementation problem. In addition, a low cost stereo vision system is developed on chip processor. It can be integrated into robotic system for executing visual servo robotic motion control purpose. Both systems can be constructed on Nios II SOPC developing board with ALTERA FPGA chip to manipulate a retrofitted Mitsubishi robotic system. The 3-D position information between the target and stereo vision system can be extracted by stereo vision algorithm first. Then, the relative motion between the robotic end-effector and the target can be planned to guide robot arm to catch the object. The self-organizing fuzzy control and fuzzy sliding mode control algorithms are employed to monitor the trajectory motion of each joint. The experimental results show that this visual servo robotic system can track and catch a moving target in 3D space and execute some interaction functions with player.

Brief Biography of the Speaker:
Shiuh-Jer Huang received received the B.Sc. degree from National Cheng-Kung University, Tainan, Taiwan, the M.Sc. degree from National Taiwan University, Taipei, Taiwan, and the Ph.D. degree from the University of California, Los Angeles, USA, in 1978, 1980, and 1986, respectively, all in mechanical engineering. In 1986, he joined the faculty of the Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan, where he is currently a Professor. From 1999 to 2000, he was a Visiting Professor with the Department of Mechanical Engineering, University of Manchester Institute Technology, England. During 2005-2009, he was the Chairman of the Department of Vehicle Engineering in the National Taipei University of Technology and awarded with outstanding professor. His research interests are precision mechatronics control, intelligent control system, robotic system control and advanced vehicle components development and applications. He had published more than 80 well-known International journal papers and 60 conference papers. He has much experience for implementing a couple of fuzzy learning mechanisms on machine tools, robotic system and vehicle control systems.