An adaptive fuzzy control for a three fingered robot gripper

Author

Doersam, Thomas ; Hammerschmidt, Oliver

Author_Institution

Dept. for Comput. Sci., Karlsruhe Univ., Germany

fYear

1995

fDate

35030

Firstpage

158

Lastpage

163

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ANZIIS.1995.705733

Filename

705733