Fuzzy-logic based gripper design and analysis for objects grasping

Three fingered gripper is one of the examples for end effector in robotic technologies that are actuated by the controller and joint actuator. Gripper has been used widely in industrial applications such as to pick and place, product assembly, paintings, and other tasks. In this research, one of the...

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Main Author:	Nor Anis Aneza, Lokman
Format:	Thesis
Language:	English
Published:	2017
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/19777/19/Fuzzy-logic%20based%20gripper%20design%20and%20analysis%20for%20objects%20grasping.pdf
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spelling	my-ump-ir.197772022-01-07T00:06:37Z Fuzzy-logic based gripper design and analysis for objects grasping 2017-06 Nor Anis Aneza, Lokman TK Electrical engineering. Electronics Nuclear engineering Three fingered gripper is one of the examples for end effector in robotic technologies that are actuated by the controller and joint actuator. Gripper has been used widely in industrial applications such as to pick and place, product assembly, paintings, and other tasks. In this research, one of the methods in Artificial Intelligence known as Fuzzy Logic (FL) is applied to control the gripper movement for object grasping. Firstly, the gripper is designed by using SimMechanics in Matlab Simulink to get the better outputs torque and simulated angle in grasping technique. The grasping of different sizes of objects are also examined and then the comparison between two controllers; FL and Proportional-Integral-Derivative (PID) were organized to assess their performance. The methods of FL with feedback controller (FLwFB) is proposed in this research to compare its performance to the FL without feedback (FLw/oFB) in the system. Simulation analysis for this comparison is also presented. The gripper grasps the objects properly with the feedback to adjust the value in the system. The system has two inputs; desired angles and sizes of objects and two outputs; simulated angles and torques. The value of desired angles are compared with the simulated angles as a reference for the analysis purposes. This measurement demonstrates the gripper condition after grasping an object. Findings have shown that the outputs for trapezoidal function in FL has better performance than the other membership functions especially when the time response is concerned. During the investigation, there are two types fuzzy rules are taken in the analysis which is 3 number of rules and 5 number of rules. Simulation results suggested that 3 number of rules demonstrated a better solutions for this proposed system. The comparison results between FL and non-FL are also analyzed in the research and outcomes illustrated that FLwFB is better than others; the error between desired and simulated angle is small when the gripper grasping an object. To evaluate the performance of the proposed technique, FL and PID controllers performance in gripper are also considered. The result indicates that FL surpassed the PID performance when time response is considered. As a result of above research works, a new contribution for FL based gripper design has been achieved for different kind of object with a simple feedback system. 2017-06 Thesis http://umpir.ump.edu.my/id/eprint/19777/ http://umpir.ump.edu.my/id/eprint/19777/19/Fuzzy-logic%20based%20gripper%20design%20and%20analysis%20for%20objects%20grasping.pdf pdf en public masters Universiti Malaysia Pahang Faculty of Electrical and Electronics Engineering
institution	Universiti Malaysia Pahang Al-Sultan Abdullah
collection	UMPSA Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Nor Anis Aneza, Lokman Fuzzy-logic based gripper design and analysis for objects grasping
description	Three fingered gripper is one of the examples for end effector in robotic technologies that are actuated by the controller and joint actuator. Gripper has been used widely in industrial applications such as to pick and place, product assembly, paintings, and other tasks. In this research, one of the methods in Artificial Intelligence known as Fuzzy Logic (FL) is applied to control the gripper movement for object grasping. Firstly, the gripper is designed by using SimMechanics in Matlab Simulink to get the better outputs torque and simulated angle in grasping technique. The grasping of different sizes of objects are also examined and then the comparison between two controllers; FL and Proportional-Integral-Derivative (PID) were organized to assess their performance. The methods of FL with feedback controller (FLwFB) is proposed in this research to compare its performance to the FL without feedback (FLw/oFB) in the system. Simulation analysis for this comparison is also presented. The gripper grasps the objects properly with the feedback to adjust the value in the system. The system has two inputs; desired angles and sizes of objects and two outputs; simulated angles and torques. The value of desired angles are compared with the simulated angles as a reference for the analysis purposes. This measurement demonstrates the gripper condition after grasping an object. Findings have shown that the outputs for trapezoidal function in FL has better performance than the other membership functions especially when the time response is concerned. During the investigation, there are two types fuzzy rules are taken in the analysis which is 3 number of rules and 5 number of rules. Simulation results suggested that 3 number of rules demonstrated a better solutions for this proposed system. The comparison results between FL and non-FL are also analyzed in the research and outcomes illustrated that FLwFB is better than others; the error between desired and simulated angle is small when the gripper grasping an object. To evaluate the performance of the proposed technique, FL and PID controllers performance in gripper are also considered. The result indicates that FL surpassed the PID performance when time response is considered. As a result of above research works, a new contribution for FL based gripper design has been achieved for different kind of object with a simple feedback system.
format	Thesis
qualification_level	Master's degree
author	Nor Anis Aneza, Lokman
author_facet	Nor Anis Aneza, Lokman
author_sort	Nor Anis Aneza, Lokman
title	Fuzzy-logic based gripper design and analysis for objects grasping
title_short	Fuzzy-logic based gripper design and analysis for objects grasping
title_full	Fuzzy-logic based gripper design and analysis for objects grasping
title_fullStr	Fuzzy-logic based gripper design and analysis for objects grasping
title_full_unstemmed	Fuzzy-logic based gripper design and analysis for objects grasping
title_sort	fuzzy-logic based gripper design and analysis for objects grasping
granting_institution	Universiti Malaysia Pahang
granting_department	Faculty of Electrical and Electronics Engineering
publishDate	2017
url	http://umpir.ump.edu.my/id/eprint/19777/19/Fuzzy-logic%20based%20gripper%20design%20and%20analysis%20for%20objects%20grasping.pdf
_version_	1783732049245372416

Fuzzy-logic based gripper design and analysis for objects grasping

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