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Three fingered gripper grasping analysis of different objects using fuzzy logic controller

Three finger gripper movement analysis governs by fuzzy logic control and feedback control is the theme for this research. The research aims to analyze the performance of a three finger gripper in attempting to grasp different types of objects. The gripper must examined to keep balancing grasping te...

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Main Authors: Nor Anis Aneza, Lokman, Hamzah, Ahmad, Mohd Razali, Daud
Format: Article
Language:English
Published: Publishing Technology 2017
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/30793/1/Three%20fingered%20gripper%20grasping%20analysis%20of%20different%20objects%20.pdf
http://umpir.ump.edu.my/id/eprint/30793/
https://doi.org/10.1166/asl.2017.7319
https://doi.org/10.1166/asl.2017.7319
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spelling my.ump.umpir.307932021-02-25T08:11:18Z http://umpir.ump.edu.my/id/eprint/30793/ Three fingered gripper grasping analysis of different objects using fuzzy logic controller Nor Anis Aneza, Lokman Hamzah, Ahmad Mohd Razali, Daud TK Electrical engineering. Electronics Nuclear engineering Three finger gripper movement analysis governs by fuzzy logic control and feedback control is the theme for this research. The research aims to analyze the performance of a three finger gripper in attempting to grasp different types of objects. The gripper must examined to keep balancing grasping technique when there are many types and sizes of objects. The analysis is enhanced with a feedback loop for the gripper system to grasp objects at different positions in their own coordinates. The sizes and angles for objects are predefined to avoid damage to the objects during grasping and are considered as inputs for the proposed system. The system output are the angles and torques values. To do this, Matlab SimMechanics and Simulink are used to design the gripper and investigate the gripper capability in grasping different objects. The results for different types of objects are discussed and the analysis shows that the gripper with fuzzy logic and feedback control can grasp each object firmly and effectively. Publishing Technology 2017-06 Article PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/30793/1/Three%20fingered%20gripper%20grasping%20analysis%20of%20different%20objects%20.pdf Nor Anis Aneza, Lokman and Hamzah, Ahmad and Mohd Razali, Daud (2017) Three fingered gripper grasping analysis of different objects using fuzzy logic controller. Advanced Science Letters, 23 (6). pp. 5102-5106. ISSN 1936-6612 https://doi.org/10.1166/asl.2017.7319 https://doi.org/10.1166/asl.2017.7319
institution Universiti Malaysia Pahang
building UMP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang
content_source UMP Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Nor Anis Aneza, Lokman
Hamzah, Ahmad
Mohd Razali, Daud
Three fingered gripper grasping analysis of different objects using fuzzy logic controller
description Three finger gripper movement analysis governs by fuzzy logic control and feedback control is the theme for this research. The research aims to analyze the performance of a three finger gripper in attempting to grasp different types of objects. The gripper must examined to keep balancing grasping technique when there are many types and sizes of objects. The analysis is enhanced with a feedback loop for the gripper system to grasp objects at different positions in their own coordinates. The sizes and angles for objects are predefined to avoid damage to the objects during grasping and are considered as inputs for the proposed system. The system output are the angles and torques values. To do this, Matlab SimMechanics and Simulink are used to design the gripper and investigate the gripper capability in grasping different objects. The results for different types of objects are discussed and the analysis shows that the gripper with fuzzy logic and feedback control can grasp each object firmly and effectively.
format Article
author Nor Anis Aneza, Lokman
Hamzah, Ahmad
Mohd Razali, Daud
author_facet Nor Anis Aneza, Lokman
Hamzah, Ahmad
Mohd Razali, Daud
author_sort Nor Anis Aneza, Lokman
title Three fingered gripper grasping analysis of different objects using fuzzy logic controller
title_short Three fingered gripper grasping analysis of different objects using fuzzy logic controller
title_full Three fingered gripper grasping analysis of different objects using fuzzy logic controller
title_fullStr Three fingered gripper grasping analysis of different objects using fuzzy logic controller
title_full_unstemmed Three fingered gripper grasping analysis of different objects using fuzzy logic controller
title_sort three fingered gripper grasping analysis of different objects using fuzzy logic controller
publisher Publishing Technology
publishDate 2017
url http://umpir.ump.edu.my/id/eprint/30793/1/Three%20fingered%20gripper%20grasping%20analysis%20of%20different%20objects%20.pdf
http://umpir.ump.edu.my/id/eprint/30793/
https://doi.org/10.1166/asl.2017.7319
https://doi.org/10.1166/asl.2017.7319
_version_ 1692991979091132416
score 13.211869

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