Development of Robotic Grasping Gripper Based on Smart Fuzzy Controller

被引：0
作者：
Kuo-Ho Su
Syuan-Jie Huang
Chan-Yun Yang
机构：
[1] Chinese Culture University,Graduate Institute of Digital Mechatronic Technology
[2] National Taipei University,Department of Electrical Engineering
来源：
International Journal of Fuzzy Systems | 2015年 / 17卷
关键词：
Grasping gripper; Vision system; Pressure module; Servo motor; Smart fuzzy controller;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
An alternative robotic grasping gripper including a vision system, machine fingers, pressure modules, and smart fuzzy grasping controller is designed and implemented in this paper. To avoid the redundant computation of inverse kinematics, the relative coordinates are adopted in the proposed architecture. To identify the stiffness and shape of different grasping objects, a smart fuzzy grasping controller is embedded into the recognition process first. According to the identifying results, the membership functions of the smart fuzzy grasping controller are precisely tuned to generate the joint angles of the servo motors online. The effectiveness is verified by some experimental results, and the proposed architectures are implemented in the home-made robotic grasping gripper in laboratory.
引用
收藏
页码：595 / 608
页数：13
相关论文
共 90 条
  • [11] Nguyen HT(2010)Five-fingered haptic interface robot: HIRO III IEEE Trans. Haptics 4 14-27
  • [12] Smeulders AWM(2011)Assessing grasp stability based on learning and haptic data IEEE Trans. Robot. 27 616-629
  • [13] Yilmaz A(2009)Integrated structure and control design for mechatronic systems with configuration-dependent dynamics Mechatronics 19 1016-1025
  • [14] Li X(2013)Position control of arm mechanism using PID controller J. Theor. Appl. Inf. Technol. 47 798-806
  • [15] Shan M(2010)Sliding-mode control of uncertain systems in the presence of unmatched disturbances with applications Int. J. Control 83 2413-2426
  • [16] Hariharakrishnan K(2011)Generalized projective synchronization for the horizontal platform systems via an integral-type sliding mode control J. Vib. Control 17 11-17
  • [17] Schonfeld D(2012)Sliding mode tracking control of a very lightweight single-link flexible robot robust to payload changes and motor friction J. Vib. Control 18 1141-1155
  • [18] Romano JM(2012)Application of fuzzy logic based control algorithms on a railway vehicle considering random track irregularities J. Vib. Control 18 1177-1198
  • [19] Hsiao K(2011)Improved fuzzy sliding mode control for a class of MIMO nonlinear uncertain and perturbed systems Appl. Soft Comput. 11 820-826
  • [20] Suwanratchatamanee K(2012)Control of an uncertain fractional-order Liu system via fuzzy fractional-order sliding mode control J. Vib. Control 18 1366-1374
123456789