Title :
Fuzzy control of a suction-based robotic gripper system
Author :
Tsourveloudis, Nikos ; Kolluru, Ramesh ; Valavanis, Kimon
Author_Institution :
Robotics & Autom. Lab., Southwestern Louisiana Univ., Lafayette, LA, USA
Abstract :
This paper presents a method to regulate and maintain the necessary amount of suction generated and used by a robotic gripper system to perform distortion-free manipulation of limp material. A fuzzy logic control scheme is used for both the determination and regulation of suction. Suction regulation is achieved by controlling the voltage applied to the suction generation motor. The presented approach is found to enhance the overall functionality of the existing robotic gripper system
Keywords :
DC motors; fuzzy control; intelligent control; manipulators; vacuum control; DC motors; fuzzy control; knowledge based control; limp material; robotic gripper system; suction control; suction generation motor; Atmosphere; Control systems; Fuzzy control; Grippers; Manipulators; Prototypes; Robot sensing systems; Robotics and automation; Service robots; Sheet materials;
Conference_Titel :
Control Applications, 1998. Proceedings of the 1998 IEEE International Conference on
Conference_Location :
Trieste
Print_ISBN :
0-7803-4104-X
DOI :
10.1109/CCA.1998.728588
