DocumentCode :
3432056
Title :
New fuzzy control- based grasping algorithm for a novel compliant robot gripper
Author :
Soliman, A.M. ; Zaki, A.M. ; Mahgoub, O.A. ; Ragai, A.M.
Author_Institution :
Power Electron. & Energy Conversion Dept., Electron. Res. Inst., Cairo
fYear :
2009
fDate :
10-13 Feb. 2009
Firstpage :
1
Lastpage :
6
Abstract :
This paper presents a fuzzy controller for two-finger gripper, one finger is fixed and the other is movable. Control system input / output variables ldquospeed command for servo motor driver / rate of force increaserdquo are measured and processed to model the mechanical system. A new grasping and control algorithm is proposed which adjusts the motion of one finger of the gripper without the risk of object crushing or dropping and also to maintain the object slip in a reasonable limit. The rules set of the proposed algorithm is derived empirically by investigation of the human hand skills that layer control approach can be implemented on different stages. Based on these stages, three fuzzy controllers was employed, the first controller is to guess the acceleration of the object resulting from few applied force and gives the suitable value of speed command, the second controller is to sense the pushing force to the object before the grasping process and its output is added to the first controller, the third controller is to enhance the behaviors of the first ad second based on the object acceleration and the applied force feed back. The controllers receive the object acceleration, object acceleration rate, pushing force and the applied force and adjust the finger motion. The designed controller is quite robust because knowledge concerning the size, the weight, or the surface texture of the grasped object is not required. The control system is simulated and the experimental results are obtained to demonstrate the efficiency of the introduced algorithm.
Keywords :
control system synthesis; force measurement; fuzzy control; grippers; manipulators; robust control; servomotors; velocity measurement; applied force feed back; compliant robot gripper; finger motion; fuzzy control-based grasping algorithm; grasping process; human hand skills; layer control approach; mechanical system; object acceleration rate; servo motor driver; surface texture; Acceleration; Control system synthesis; Fingers; Force control; Force measurement; Fuzzy control; Grippers; Mechanical variables control; Motion control; Robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Technology, 2009. ICIT 2009. IEEE International Conference on
Conference_Location :
Gippsland, VIC
Print_ISBN :
978-1-4244-3506-7
Electronic_ISBN :
978-1-4244-3507-4
Type :
conf
DOI :
10.1109/ICIT.2009.4939552
Filename :
4939552
Link To Document :
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