Title :
An adaptive fuzzy control for a three fingered robot gripper
Author :
Doersam, Thomas ; Hammerschmidt, Oliver
Author_Institution :
Dept. for Comput. Sci., Karlsruhe Univ., Germany
Abstract :
Performing fine manipulations with multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. Mainly nonlinear friction problems and plant uncertainties require intensive fine tuning of the controller. An adaptive fuzzy control which allows automatic controller tuning during plant operation is proposed and was added to an existing process control system. Finally, experimental results of a three fingered robot gripper using this adaptive fuzzy control are presented
Keywords :
adaptive control; fuzzy control; fuzzy set theory; manipulators; process control; uncertainty handling; adaptive fuzzy control; automatic controller tuning; control algorithms; control computer; fine manipulations; intensive fine tuning; multifingered robot hands; nonlinear friction problems; plant operation; plant uncertainties; process control system; three fingered robot gripper; Adaptive control; Automatic control; Friction; Fuzzy control; Grippers; High performance computing; Programmable control; Robotics and automation; Robots; Uncertainty;
Conference_Titel :
Intelligent Information Systems, 1995. ANZIIS-95. Proceedings of the Third Australian and New Zealand Conference on
Conference_Location :
Perth, WA
Print_ISBN :
0-86422-430-3
DOI :
10.1109/ANZIIS.1995.705733
