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Design and Analysis of FLC and Feedback Control for Three Finger Gripper System

Nor Anis Aneza, Lokman and Hamzah, Ahmad and Mohd Razali, Daud (2016) Design and Analysis of FLC and Feedback Control for Three Finger Gripper System. In: Applied Mathematics in Science and Engineering International Conference (APPEMSE 2016), 26-28 January 2016 , Melaka, Malaysia. pp. 1-7.. (Unpublished)

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Abstract

These researches present the fuzzy logic design and control for three finger gripper system to grasp an object. Two objectives are mainly considered in this work, which are the analysis of different membership types and the gripper performance with feedback and without feedback control. The comparison is also including different number of rules analysis as well as the fuzzy membership types. The simulation and analysis are carried by using MATLAB Simulink and SimMechanics toolboxes to analyze the system performance. The result shows that the gripper system with trapezoidal memberships achieved faster response and good grasp. Besides that, the proposed system with feedback has produced the best result to grasp the object with suitable torques and angles in comparison to the non-feedback gripper system.

Item Type: Conference or Workshop Item (Lecture)
Uncontrolled Keywords: fuzzy logic, feedback, non-feedback, three finger gripper, membership functions
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: Noorul Farina Arifin
Date Deposited: 21 Sep 2016 05:12
Last Modified: 05 Feb 2018 07:36
URI: http://umpir.ump.edu.my/id/eprint/14445
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