Three Fingered Gripper Grasping Analysis of Different Objects using FLC
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 analysis is enhanced with a feedback loop for the g...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
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2016
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/14444/1/fkee-2016-anis-Three%20Fingered%20Gripper%20Grasping.pdf |
| _version_ | 1825823167378096128 |
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| 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 |
| collection | UMP |
| 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 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. |
| first_indexed | 2024-03-06T12:07:22Z |
| format | Conference or Workshop Item |
| id | UMPir14444 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T12:07:22Z |
| publishDate | 2016 |
| record_format | dspace |
| spelling | UMPir144442018-02-05T07:37:22Z http://umpir.ump.edu.my/id/eprint/14444/ Three Fingered Gripper Grasping Analysis of Different Objects using FLC 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 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. 2016 Conference or Workshop Item NonPeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/14444/1/fkee-2016-anis-Three%20Fingered%20Gripper%20Grasping.pdf Nor Anis Aneza, Lokman and Hamzah, Ahmad and Mohd Razali, Daud (2016) Three Fingered Gripper Grasping Analysis of Different Objects using FLC. In: 3rd International Conference on Computer, Communication, and Control Technology (I4CT) , 19-21 April 2016 , Promenade Hotel Kota Kinabalu, Sabah. pp. 1-5.. (Unpublished) (Unpublished) |
| 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 FLC |
| title | Three Fingered Gripper Grasping Analysis of Different Objects using FLC |
| title_full | Three Fingered Gripper Grasping Analysis of Different Objects using FLC |
| title_fullStr | Three Fingered Gripper Grasping Analysis of Different Objects using FLC |
| title_full_unstemmed | Three Fingered Gripper Grasping Analysis of Different Objects using FLC |
| title_short | Three Fingered Gripper Grasping Analysis of Different Objects using FLC |
| title_sort | three fingered gripper grasping analysis of different objects using flc |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/14444/1/fkee-2016-anis-Three%20Fingered%20Gripper%20Grasping.pdf |
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