FUZZY CONTROL FOR ROBOTIC POWER GRASP

This paper presents a fuzzy controller for a robotic power grasp syste m. The controller works to achieve three objectives: obtaining contact with all finger links and the palm, centering the object in the grasp , and controlling the link and palm normal forces such that they lie w ithin a specified clinch range. To perform the control, fuzzy rules wh ich exploit the natural dynamics of the system were developed. The con troller's performance is evaluated through the use of case studies. Th e controller is shown to effectively control the normal forces in a pi ckup operation and to be robust to changes in friction in centering.