DESIGN AND ANALYSIS OF FLC AND FEEDBACK CONTROL FOR THREE FINGER GRIPPER SYSTEM

被引：0

作者：

Lokman, Nor Anis Aneza ^{[1
]}

Ahmad, Hamzah ^{[1
]}

Daud, Mohd Razali ^{[1
]}

机构：

[1] Univ Malaysia Pahang, Fac Elect & Elect Engn, Kampus Pekan, Pekan 26600, Pahang Darul Ma, Malaysia

来源：

JURNAL TEKNOLOGI | 2016年 / 78卷 / 10-4期

关键词：

Fuzzy logic; feedback; non-feedback; three finger gripper; membership functions;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper presents the fuzzy logic design and control for three finger gripper system to grasp an object. Two objectives are mainly considered in this work, which are the analysis of different membership types and the gripper performance with feedback and without feedback control to support current research findings. The comparison is also including different number of rules analysis as well as the fuzzy membership types. The simulation and analysis are carried by using MATLAB Simulink and SimMechanics toolboxes to analyze the system performance. The result shows that the gripper system with trapezoidal memberships achieved faster response and good grasp. Besides that, the proposed system with feedback has produced the best result to grasp the object with suitable torques and angles in comparison to the non-feedback gripper system.

引用

页码：61 / 67

页数：7

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