{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,13]],"date-time":"2026-02-13T19:14:26Z","timestamp":1771010066996,"version":"3.50.1"},"reference-count":17,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":5972,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1992,11]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>A fuzzy qualitative model of a robot sensor, presented in this paper, is for locating 3-D objects, and the location information is used to guide the movements of an industrial robot to pick up the objects. The sensor consists of a rigid platform mounted on a flexible column. Each object to be located is held rigidly with respect to the platform. The static deflections of the column and natural frequencies of vibration of the dynamic system comprising the object, platform and column are measured and processed using a mathematical model of the system to determine the location of the object. In practice, the frequency measurements have low repeatability, which leads to inconsistent location information. Also, when the orientation is in the region 80\u00b0\u201390\u00b0 relative to a reference axis of the sensor, the mathematical model becomes ill-conditioned. In this paper, a fuzzy qualitative model of the sensor is described. The fuzzy model is designed to yield the orientation in the region where the mathematical model is unusable. Different stages for constructing the fuzzy model are described. The on-line implementation of the model is outlined and the experimental results obtained are presented.<\/jats:p>","DOI":"10.1017\/s0263574700005877","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T09:17:20Z","timestamp":1236676640000},"page":"555-562","source":"Crossref","is-referenced-by-count":11,"title":["Fuzzy Qualitative Model of a Robot Sensor for Locating Three-dimensional Objects"],"prefix":"10.1017","volume":"10","author":[{"given":"D.T.","family":"Pham","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"K.","family":"Hafeez","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700005877_ref016","first-page":"419","article-title":"Fuzzy Logic in Control Systems: Fuzzy Logic Controller","volume":"20","author":"Lee","year":"1990","journal-title":"IEEE Trans"},{"key":"S0263574700005877_ref015","first-page":"28","article-title":"Outline of a New Approach to the Analysis of Complex Systems and Decision Processes","volume":"3","author":"Zadeh","year":"1973","journal-title":"IEEE Trans"},{"key":"S0263574700005877_ref013","doi-asserted-by":"publisher","DOI":"10.1016\/0895-7177(90)90226-D"},{"key":"S0263574700005877_ref012","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700007657"},{"key":"S0263574700005877_ref011","doi-asserted-by":"publisher","DOI":"10.1016\/0890-6955(88)90012-0"},{"key":"S0263574700005877_ref008","unstructured":"8. Pham D.T. and Dissanayake M.W.M.G. , \u201cA Three\u2013degree\u2013of\u2013freedom Inertial Sensor for Locating Parts\u201d Proc. 15th Int. Symp. on Industrial Robots, Tokyo (1985) pp. 613\u2013629."},{"key":"S0263574700005877_ref010","unstructured":"10. Pham D.T. and Menendez J. , \u201cA Six-degree\u2013of\u2013freedom Inertial Sensor for Locating Parts\u201d Proc. 7th World Congress on Theory of Machines and Mechanisms, IFToMM, Seville, Spain (1987) pp. 929\u2013934."},{"key":"S0263574700005877_ref006","unstructured":"6. Howe R.D. , Popp N. , Akella P. , Kao I. and Cutkosky M.R. , \u201cGrasping, Manipulation, and Control With Tactile Sensing\u201d Proc. IEEE Int. Conf. Robotics and Automation, Cincinnati, OH (1990) pp. 1258\u20131263."},{"key":"S0263574700005877_ref005","first-page":"123","article-title":"Eye to Hand Coordination for Vision Guided Robotic Pick\u2013and\u2013Place Operation","volume":"2","author":"Wolfe","year":"1990","journal-title":"Advanced Manufacturing Engineering"},{"key":"S0263574700005877_ref004","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700610"},{"key":"S0263574700005877_ref003","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900603"},{"key":"S0263574700005877_ref007","unstructured":"7. Pham D.T. and Dissanayake M.W.M.G. , \u201cInertia\u2013based Sensors With One and Two Degrees of Freedom\u201d Proc. 5th Int. Conf. on Robot Vision and Sensory Control, Amsterdam (1985) pp. 223\u2013237."},{"key":"S0263574700005877_ref002","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700604"},{"key":"S0263574700005877_ref014","unstructured":"14. Pham D.T. and Hafeez K. , \u201cAn Adaptive Kalman Filter for Estimating the Location of 3\u2013D Objects using a Robot Sensor\u201d Proc. 8th Int. Conf. Mathematical and Computer Modelling, Washington, DC., 1991 (In Press)."},{"key":"S0263574700005877_ref001","unstructured":"1. Lee S. and Kay Y. , \u201cAn Accurate Estimation of 3\u2013D Position and Orientation Information of a Moving Object for Robot Stereo vision: Kaiman Filter Approach\u201d Proc. IEEE Int. Conf. on Robotics and Automation, Cincinnati, OH, U.S.A., (1990) pp. 414\u2013419."},{"key":"S0263574700005877_ref009","unstructured":"9. Pham D.T. and Dissanayake M.W.M.G. , \u201cFeasibility Study of a Vibratory Sensor for Locating 3\u2013D Objects\u201d Proc. 25th Int. Machine Tool Design and Research Conf. Birmingham, U.K. (1985) pp. 201\u2013211."},{"key":"S0263574700005877_ref017","unstructured":"17. Yamazaki T. , \u201cAn Improved Algorithm for a Self-organising Controller and its Experimental Analysis\u201d PhD thesis, Queen Mary College, University of London (1982)."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700005877","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,16]],"date-time":"2019-05-16T16:21:33Z","timestamp":1558023693000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700005877\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1992,11]]},"references-count":17,"journal-issue":{"issue":"6","published-print":{"date-parts":[[1992,11]]}},"alternative-id":["S0263574700005877"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700005877","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1992,11]]}}}