Title :
Implementation of robotic gripper based on pressure module and smart fuzzy controller
Author :
Kuo-Ho Su ; Syuan-Jie Huang ; Chan-Yun Yang
Author_Institution :
Grad. Inst. of Digital Mechatron. Technol., Chinese Culture Univ., Taipei, Taiwan
Abstract :
In this study, an alternative robotic grasping gripper including a vision system, machine fingers, pressure modules and smart fuzzy grasping controller is designed and implemented. 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 firstly. 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. The effectiveness is verified by some experimental results, and the proposed architectures are implemented in the home-made robotic grasping gripper in laboratory.
Keywords :
dexterous manipulators; fuzzy control; grippers; intelligent robots; servomotors; grasping object shape identification; home-made robotic grasping gripper; joint angle; membership function; pressure module; recognition process; servomotor; smart fuzzy grasping controller; stiffness identification; Grasping; Grippers; Pulse width modulation; Robot sensing systems; Service robots; Servomotors; fuzzy controller; grasping gripper; pressure module; servo motor; vision system;
Conference_Titel :
Fuzzy Theory and Its Applications (iFUZZY), 2014 International Conference on
Print_ISBN :
978-1-4799-4590-0
DOI :
10.1109/iFUZZY.2014.7091232