Fuzzy stability supervision of robot grippers

Due to the complexity of many nonlinear control systems an off-line stability analysis might be extremely difficult. Hence this article presents an on-line fuzzy-based stability supervision system. This system is able to detect and evaluate occurring safety and stability problems. Therefore the supervisor classifies on-line the stability by means of a fuzzy degree of stability between zero and one. The functionality of the supervision system is shown by simulated grasp studies with the elastic robot gripper of the Research Center Karlsruhe.