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Fuzzy Logic Controller Design for A Robot Grasping System with Different Membership Functions

Hamzah, Ahmad and Saifudin, Razali and Mohd Rusllim, Mohamed (2013) Fuzzy Logic Controller Design for A Robot Grasping System with Different Membership Functions. In: 5th International Conference on Mechatronics (ICOM 2013), 2-4 July 2013 , Berjaya Times Square Hotel, Kuala Lumpur, Malaysia. pp. 1-8.. (Submitted)

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Abstract

This paper investigates the effects of the membership function to the object grasping for a three fingered gripper system. The performance of three famously used membership functions is compared to identify their behavior in lifting a defined object shape. MATLAB Simulink and SimMechanics toolboxes are used to examine the performance. Our preliminary results proposed that the Gaussian membership function surpassed the two other membership functions; triangular and trapezoid memberships especially in the context of firmer grasping and less time consumption during operations. Therefore, Gaussian membership function could be the best solution when time consumption and firmer grasp are considered.

Item Type: Conference or Workshop Item (Speech)
Uncontrolled Keywords: Fuzzy logic controller; Robot Grasping
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: Noorul Farina Arifin
Date Deposited: 19 Jul 2013 07:07
Last Modified: 07 Mar 2018 03:36
URI: http://umpir.ump.edu.my/id/eprint/3821
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