The following information was submitted:
Transactions: WSEAS TRANSACTIONS ON SYSTEMS
Transactions ID Number: 52-217
Full Name: Ayman Soliman
Position: Doctor (Researcher)
Age: ON
Sex: Male
Address: 2 ELashgar st. Roxi Cairo
Country: EGYPT
Tel: 0020103438162
Tel prefix: 0020103438162
Fax: 0020226224941
E-mail address: aymansoliman3000@yahoo.com
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Title of the Paper: design, implementation and fuzzy logic control of an intelligent robotic gripper
Authors as they appear in the Paper: Ayman Soliman, Abdellatif Elshafei, Osama Mahgoub and Aziza Zaki
Email addresses of all the authors: aymansoliman3000@yahoo.com, alelshafei@hotmail.com, mahgoub04@yahoo.com, aziza@eri.sci.eg
Number of paper pages: 12
Abstract: The gripper is one critical component of an industrial robot which is often useful in industrial environments for object grasping during handling process. In this paper, a gripper is designed and implemented to grasp unknown objects with different masses, dimensions, and coefficients of frictions considering simplicity, wide range of objects and economy. The proposed grasping process during object lifting and handling is mainly based on the slip reflex principle, as applying insufficient force leads to object slipping, and dropping may occur. In the mean time, applying extra force during grasping may lead to object crushing. A new scheme system controller using fuzzy systems based on empirical investigation of the human hand skills is proposed to control the applied force on the object without the risk of object crushing or dropping. Adaptive neuro-fuzzy inference system ANFIS is used to model the assigned robotic gripper based on input/output variables measurement!
s. Reducing the distance of the slippage and process time can be achieved owing to the proposed robotic gripper as shown in experimental results.
Keywords: Intelligent robotic gripper, ANFIS modeling, Fuzzy control, Tactile Sensors, Grasping process
EXTENSION of the file: .pdf
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How Did you learn about congress: Ayman Mohamed Soliman, Cairo Egypt, aymansoliman3000@yahoo.com
IP ADDRESS: 41.233.172.45
