Design of intelligent multifinger gripper for a robotic arm using a DSP-based fuzzy controller

The design and modeling of a robotic arm gripper that has elements of intelligent decision making while grasping object has been recently discussed. This new system is different in using an appropriate controlling scheme so that the correct force is applied to pick an object without dropping or...

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Main Authors:	Salami, Momoh Jimoh Emiyoka, Mir-Nassiri, Nazim, Sidek, Shahrul Na'im
Format:	Conference or Workshop Item
Language:	English
Published:	2000
Subjects:	TA168 Systems engineering
Online Access:	http://irep.iium.edu.my/22609/ http://irep.iium.edu.my/22609/ http://irep.iium.edu.my/22609/1/2000TENCON_multifinger.pdf

id	iium-22609
recordtype	eprints
spelling	iium-226092019-01-10T05:11:03Z http://irep.iium.edu.my/22609/ Design of intelligent multifinger gripper for a robotic arm using a DSP-based fuzzy controller Salami, Momoh Jimoh Emiyoka Mir-Nassiri, Nazim Sidek, Shahrul Na'im TA168 Systems engineering The design and modeling of a robotic arm gripper that has elements of intelligent decision making while grasping object has been recently discussed. This new system is different in using an appropriate controlling scheme so that the correct force is applied to pick an object without dropping or crushing it. This is achieved by controlling the shear stresses at the interface material between finger-ends and the object using smart sensors and intelligent controller. A new slip sensor that is based on the operation of optical encoder is used to monitor the slip rate as a result of insufficient force being applied to pick an object. A two-stage control scheme is suggested for the implementation of this system. First a limit switch is used to control the positioning of the fingers thereby solving the problem of uncertainty in the location and orientation of the object. Then, to ensure that an appropriate force is used in picking up an object a fuzzy logic controller is used. The use of TMS320C24XX series DSP controller to implement the control strategy provides the flexibility needed in altering the control code and the prototype can be tested at low cost. 2000 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/22609/1/2000TENCON_multifinger.pdf Salami, Momoh Jimoh Emiyoka and Mir-Nassiri, Nazim and Sidek, Shahrul Na'im (2000) Design of intelligent multifinger gripper for a robotic arm using a DSP-based fuzzy controller. In: IEEE Region 10 Annual International Conference, Proceedings/TENCON, 24-27 Sep. 2000, Kuala Lumpur. http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=00892287
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TA168 Systems engineering
spellingShingle	TA168 Systems engineering Salami, Momoh Jimoh Emiyoka Mir-Nassiri, Nazim Sidek, Shahrul Na'im Design of intelligent multifinger gripper for a robotic arm using a DSP-based fuzzy controller
description	The design and modeling of a robotic arm gripper that has elements of intelligent decision making while grasping object has been recently discussed. This new system is different in using an appropriate controlling scheme so that the correct force is applied to pick an object without dropping or crushing it. This is achieved by controlling the shear stresses at the interface material between finger-ends and the object using smart sensors and intelligent controller. A new slip sensor that is based on the operation of optical encoder is used to monitor the slip rate as a result of insufficient force being applied to pick an object. A two-stage control scheme is suggested for the implementation of this system. First a limit switch is used to control the positioning of the fingers thereby solving the problem of uncertainty in the location and orientation of the object. Then, to ensure that an appropriate force is used in picking up an object a fuzzy logic controller is used. The use of TMS320C24XX series DSP controller to implement the control strategy provides the flexibility needed in altering the control code and the prototype can be tested at low cost.
format	Conference or Workshop Item
author	Salami, Momoh Jimoh Emiyoka Mir-Nassiri, Nazim Sidek, Shahrul Na'im
author_facet	Salami, Momoh Jimoh Emiyoka Mir-Nassiri, Nazim Sidek, Shahrul Na'im
author_sort	Salami, Momoh Jimoh Emiyoka
title	Design of intelligent multifinger gripper for a robotic arm using a DSP-based fuzzy controller
title_short	Design of intelligent multifinger gripper for a robotic arm using a DSP-based fuzzy controller
title_full	Design of intelligent multifinger gripper for a robotic arm using a DSP-based fuzzy controller
title_fullStr	Design of intelligent multifinger gripper for a robotic arm using a DSP-based fuzzy controller
title_full_unstemmed	Design of intelligent multifinger gripper for a robotic arm using a DSP-based fuzzy controller
title_sort	design of intelligent multifinger gripper for a robotic arm using a dsp-based fuzzy controller
publishDate	2000
url	http://irep.iium.edu.my/22609/ http://irep.iium.edu.my/22609/ http://irep.iium.edu.my/22609/1/2000TENCON_multifinger.pdf
first_indexed	2023-09-18T20:34:24Z
last_indexed	2023-09-18T20:34:24Z
_version_	1777408949626077184

Design of intelligent multifinger gripper for a robotic arm using a DSP-based fuzzy controller

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