Development of Robotic Grasping Gripper Based on Smart Fuzzy Controller

文化大學機構典藏 CCUR > 理工學院 > 工學院 > 機械工程系暨機械工程學系數位機電研究所 > 期刊論文 > Item 987654321/32085

請使用永久網址來引用或連結此文件: https://irlib.pccu.edu.tw/handle/987654321/32085

題名:	Development of Robotic Grasping Gripper Based on Smart Fuzzy Controller
作者:	Su, Kuo-Ho Huang, Syuan-Jie Yang, Chan-Yun
貢獻者:	機電所
關鍵詞:	Grasping gripper Vision system Pressure module Servo motor Smart fuzzy controller
日期:	2015-12
上傳時間:	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
顯示於類別:	[機械工程系暨機械工程學系數位機電研究所] 期刊論文

文件中的檔案:

檔案	描述	大小	格式	瀏覽次數
index.html		0Kb	HTML	279	檢視/開啟

檢視Licence

在CCUR中所有的資料項目都受到原著作權保護.