Fuzzy Logic Controller Design for A Robot Grasping System with Different Membership Functions
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...
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my.ump.umpir.38212018-03-07T03:36:50Z http://umpir.ump.edu.my/id/eprint/3821/ Fuzzy Logic Controller Design for A Robot Grasping System with Different Membership Functions Hamzah, Ahmad Saifudin, Razali Mohd Rusllim, Mohamed TK Electrical engineering. Electronics Nuclear engineering 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. 2013-07 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/3821/1/FKEE-2013-Hamzah-fuzzy_logic_controller.pdf 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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TK Electrical engineering. Electronics Nuclear engineering Hamzah, Ahmad Saifudin, Razali Mohd Rusllim, Mohamed Fuzzy Logic Controller Design for A Robot Grasping System with Different Membership Functions |
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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. |
format |
Conference or Workshop Item |
author |
Hamzah, Ahmad Saifudin, Razali Mohd Rusllim, Mohamed |
author_facet |
Hamzah, Ahmad Saifudin, Razali Mohd Rusllim, Mohamed |
author_sort |
Hamzah, Ahmad |
title |
Fuzzy Logic Controller Design for A Robot Grasping System with Different Membership Functions |
title_short |
Fuzzy Logic Controller Design for A Robot Grasping System with Different Membership Functions |
title_full |
Fuzzy Logic Controller Design for A Robot Grasping System with Different Membership Functions |
title_fullStr |
Fuzzy Logic Controller Design for A Robot Grasping System with Different Membership Functions |
title_full_unstemmed |
Fuzzy Logic Controller Design for A Robot Grasping System with Different Membership Functions |
title_sort |
fuzzy logic controller design for a robot grasping system with different membership functions |
publishDate |
2013 |
url |
http://umpir.ump.edu.my/id/eprint/3821/1/FKEE-2013-Hamzah-fuzzy_logic_controller.pdf http://umpir.ump.edu.my/id/eprint/3821/ |
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13.159267 |