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Development of Robotic Grasping Gripper Based on Smart Fuzzy Controller

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Abstract

An alternative robotic grasping gripper including a vision system, machine fingers, pressure modules, and smart fuzzy grasping controller is designed and implemented in this paper. To avoid the redundant computation of inverse kinematics, the relative coordinates are adopted in the proposed architecture. To identify the stiffness and shape of different grasping objects, a smart fuzzy grasping controller is embedded into the recognition process first. According to the identifying results, the membership functions of the smart fuzzy grasping controller are precisely tuned to generate the joint angles of the servo motors online. The effectiveness is verified by some experimental results, and the proposed architectures are implemented in the home-made robotic grasping gripper in laboratory.

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Acknowledgments

The authors gratefully acknowledge the financial support of the Ministry of Science and Technology of Taiwan, R.O.C. through its Grant No. NSC102-2221-E-034-005- and Grant No. MOST103-2221-E-034-017-.

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Authors and Affiliations

  1. Graduate Institute of Digital Mechatronic Technology, Chinese Culture University, No. 55, Hwa-Kang Rd., Yang-Ming-Shan, Taipei, 11114, Taiwan

    Kuo-Ho Su & Syuan-Jie Huang

  2. Department of Electrical Engineering, National Taipei University, No. 151, University Rd., San Shia Dist., New Taipei City, 23741, Taiwan

    Chan-Yun Yang

Authors
  1. Kuo-Ho Su
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  2. Syuan-Jie Huang
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  3. Chan-Yun Yang
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Correspondence to Kuo-Ho Su.

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Su, KH., Huang, SJ. & Yang, CY. Development of Robotic Grasping Gripper Based on Smart Fuzzy Controller. Int. J. Fuzzy Syst. 17, 595–608 (2015). https://doi.org/10.1007/s40815-015-0042-3

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  • DOI: https://doi.org/10.1007/s40815-015-0042-3

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