Research on Application of Fuzzy Controller Based on Dual-Thumb Pneumatic Flexible Robot Hand

Shao Song Wan; Jian Cao; Cong Yan

doi:10.4028/www.scientific.net/AMM.602-605.1295

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 602-605Research on Application of Fuzzy Controller Based...

Research on Application of Fuzzy Controller Based on Dual-Thumb Pneumatic Flexible Robot Hand

Abstract:

Fuzzy rules and its inference mechanism are the assurance of achieving feature fusion. Conventional Proportional Integral Derivative (PID) control is often used in present industrial field. Because the control parameters are fixed, the tuning results are difficult to meet the demands and the system is unstable or even out of control. This paper has a design and analysis on the dual thumb pneumatic flexible robot hand base on the active flexible bending joints we have developed. The flexible joint is composed of four elongation artificial muscles with parallel arrangement. The robot hand has five multi-actuated fingers each with three flexible joints. In this paper, Matlab is used to confirm that the fuzzy control system has good adaptability and anti-jamming capability.

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Periodical:

Applied Mechanics and Materials (Volumes 602-605)

Pages:

1295-1298

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.602-605.1295

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Online since:

August 2014

Authors:

Shao Song Wan*, Jian Cao, Cong Yan

Keywords:

Image, MATLAB, PID Control, Robot Hand

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