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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Main Authors:	Hamzah, Ahmad, Saifudin, Razali, Mohd Rusllim, Mohamed
Format:	Conference or Workshop Item
Language:	English
Published:	2013
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/3821/ http://umpir.ump.edu.my/id/eprint/3821/1/FKEE-2013-Hamzah-fuzzy_logic_controller.pdf

id	ump-3821
recordtype	eprints
spelling	ump-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)
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	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
description	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/ http://umpir.ump.edu.my/id/eprint/3821/1/FKEE-2013-Hamzah-fuzzy_logic_controller.pdf
first_indexed	2023-09-18T21:58:21Z
last_indexed	2023-09-18T21:58:21Z
_version_	1777414230915416064

Fuzzy Logic Controller Design for A Robot Grasping System with Different Membership Functions

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