DESIGN AND ANALYSIS OF FLC AND FEEDBACK CONTROL FOR THREE FINGER GRIPPER SYSTEM

Authors

  • Nor Anis Aneza Lokman Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Kampus Pekan, 26600 Pekan, Pahang Darul Makmur, Malaysia
  • Hamzah Ahmad Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Kampus Pekan, 26600 Pekan, Pahang Darul Makmur, Malaysia
  • Mohd Razali Daud Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Kampus Pekan, 26600 Pekan, Pahang Darul Makmur, Malaysia

DOI:

https://doi.org/10.11113/jt.v78.9892

Keywords:

Fuzzy logic, feedback, non-feedback, three finger gripper, membership functions

Abstract

This paper presents 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 to support current research findings. 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.

References

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Published

2016-10-30

How to Cite

DESIGN AND ANALYSIS OF FLC AND FEEDBACK CONTROL FOR THREE FINGER GRIPPER SYSTEM. (2016). Jurnal Teknologi, 78(10-4). https://doi.org/10.11113/jt.v78.9892