DocumentCode
2243751
Title
Fuzzy stability supervision of robot grippers
Author
Mikut, Ralf ; Lehmann, Arne ; Bretthauer, Georg
Author_Institution
Inst. for Appl. Comput. Sci., Forschungszentrum Karlsruhe GmbH, Germany
Volume
3
fYear
2004
fDate
25-29 July 2004
Firstpage
1473
Abstract
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.
Keywords
fuzzy control; grippers; nonlinear control systems; poles and zeros; stability; fuzzy stability supervision; nonlinear control systems; off-line stability analysis; on-line fuzzy-based stability supervision system; robot grippers; Automatic control; Computer science; Control systems; Fuzzy control; Fuzzy systems; Grippers; Nonlinear control systems; Robots; Safety; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Fuzzy Systems, 2004. Proceedings. 2004 IEEE International Conference on
ISSN
1098-7584
Print_ISBN
0-7803-8353-2
Type
conf
DOI
10.1109/FUZZY.2004.1375391
Filename
1375391
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