Suction control of a robotic gripper: A neuro-fuzzy approach

Citation
Nc. Tsourveloudis et al., Suction control of a robotic gripper: A neuro-fuzzy approach, J INTEL ROB, 27(3), 2000, pp. 215-235
Citations number
16
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
ISSN journal
09210296 → ACNP
Volume
27
Issue
3
Year of publication
2000
Pages
215 - 235
Database
ISI
SICI code
0921-0296(200003)27:3<215:SCOARG>2.0.ZU;2-R
Abstract
This paper discusses a fuzzy logic control system designed to determine, re gulate and maintain the amount of suction needed by a robotic gripper syste m to perform reliable limp material manipulation. A neuro-fuzzy approach is followed to determine the amount of desired suction (depending on experime ntally derived data and plant characteristics). A knowledge-based valve con troller is then designed to generate, regulate and maintain the amount of s uction calculated by the neuro-fuzzy suction module. The performance of the overall suction control system is compared with actual experimental result s obtained when using a prototype gripper system to handle limp material. F urther, performance of the fuzzy logic based valve controller is compared t o conventional PD and PID controllers. The proposed control scheme is found to enhance the overall functionality of the prototype robotic gripper syst em.