Development of Robotic Grasping Gripper Based on Smart Fuzzy Controller

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题名:	Development of Robotic Grasping Gripper Based on Smart Fuzzy Controller
作者:	Su, Kuo-Ho Huang, Syuan-Jie Yang, Chan-Yun
贡献者:	機電所
关键词:	Grasping gripper Vision system Pressure module Servo motor Smart fuzzy controller
日期:	2015-12
上传时间:	2016-02-26 09:48:07 (UTC+8)
摘要:	An alternative robotic grasping gripper including a vision system, machine fingers, pressure modules, and smart fuzzy grasping controller is designed and implemented in this paper. To avoid the redundant computation of inverse kinematics, the relative coordinates are adopted in the proposed architecture. To identify the stiffness and shape of different grasping objects, a smart fuzzy grasping controller is embedded into the recognition process first. According to the identifying results, the membership functions of the smart fuzzy grasping controller are precisely tuned to generate the joint angles of the servo motors online. The effectiveness is verified by some experimental results, and the proposed architectures are implemented in the home-made robotic grasping gripper in laboratory.
關聯:	INTERNATIONAL JOURNAL OF FUZZY SYSTEMS 卷: 17 期: 4 頁碼: 595-608
显示于类别:	[機械工程系暨機械工程學系數位機電研究所] 期刊論文

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