Title

Design of a fuzzy-genetic controller for an articulated robot gripper

College

Gokongwei College of Engineering

Department/Unit

Electronics And Communications Engg

Document Type

Conference Proceeding

Source Title

IEEE Region 10 Annual International Conference, Proceedings/TENCON

Volume

2018-October

First Page

1701

Last Page

1706

Publication Date

2-22-2019

Abstract

In this study, a fuzzy logic controller (FLC) was designed to manipulate an articulated robot gripper. An idea from a previous study was utilized to enhance the performance of the FLC using genetic algorithms by optimizing newly-introduced coefficients in the membership functions of the FLC. The proposed controller was applied on a robot gripper model in Simulink. All in all, the genetic algorithm was able to come up with optimized parameters after an average of at least eight (8) generations and the proposed controller was able to follow the reference trajectory more accurately than the simple fuzzy controller. Further research will be necessary for physical implementation and possible improvement of the utilized genetic algorithm. © 2018 IEEE.

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Digitial Object Identifier (DOI)

10.1109/TENCON.2018.8650431

Disciplines

Electrical and Electronics | Systems and Communications

Keywords

Robots—Control systems; Robot hands; Fuzzy logic

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