scholarly journals Optimal object grasp using tactile sensors and fuzzy logic

Robotica ◽  
1999 ◽  
Vol 17 (6) ◽  
pp. 685-693 ◽  
Author(s):  
Venketesh N. Dubey ◽  
Richard M. Crowder ◽  
Paul H. Chappell
Keyword(s):  
Optimal Control ◽  
Fuzzy Logic ◽  
Tactile Sensors ◽  
Frictional Properties ◽  
Fingertip Force ◽  
Unstructured Environment ◽  
Contact Surfaces ◽  
End Effectors ◽  
Contact Parameters

Optimal control of fingertip force during grasping operation by multifingered robotic end effectors is an important consideration. Determination of optimal fingertip force is, however, very complicated due to the involvement of a number of contact parameters at the finger-object interface including the mass of the object and the frictional properties of the contact surfaces. Modelling of various contact parameters is computationally overloading, which may not be tenable in practical situations where objects of different mass and material are available. Also for an unknown and unstructured environment, these properties may not be known in advance. This paper presents a controller based on fuzzy logic which is capable of performing optimal grasp of objects without knowing their mass and frictional properties. The controller also accounts for stability and dynamic aspects of the grasp. The experimental results of the implementation are presented.

STAND-UP MOTION SUPPORT BY A MOBILE MANIPULATOR SYSTEM WITH HIGH SPEED TACTILE SENSORS

2011 ◽  
Vol 08 (03) ◽  
pp. 181-195
Author(s):  
ZHAOXIAN XIE ◽  
HISASHI YAMAGUCHI ◽  
MASAHITO TSUKANO ◽  
AIGUO MING ◽  
MAKOTO SHIMOJO
Keyword(s):  
Fuzzy Logic ◽  
Feedback Control ◽  
Experimental Verification ◽  
High Speed ◽  
Center Of Pressure ◽  
Tactile Sensor ◽  
Mobile Manipulator ◽  
Tactile Sensing ◽  
Robot Arm ◽  
Tactile Sensors

As one of the home services by a mobile manipulator system, we are aiming at the realization of the stand-up motion support for elderly people. This work is charaterized by the use of real-time feedback control based on the information from high speed tactile sensors for detecting the contact force as well as its center of pressure between the assisted human and the robot arm. First, this paper introduces the design of the tactile sensor as well as initial experimental results to show the feasibility of the proposed system. Moreover, several fundamental tactile sensing-based motion controllers necessary for the stand-up motion support and their experimental verification are presented. Finally, an assist trajectory generation method for the stand-up motion support by integrating fuzzy logic with tactile sensing is proposed and demonstrated experimentally.

Optimal control determination of MMA polymerization in non-isothermal batch reactor using bifunctional initiator

2005 ◽  
Vol 41 (12) ◽  
pp. 2893-2908 ◽  
Author(s):  
Simant R. Upreti ◽  
Baranitharan S. Sundaram ◽  
Ali Lohi
Keyword(s):  
Optimal Control ◽  
Batch Reactor ◽  
Mma Polymerization

Maximum load determination of nonholonomic mobile manipulator using hierarchical optimal control

Robotica ◽  
2011 ◽  
Vol 30 (1) ◽  
pp. 53-65 ◽  
Author(s):  
M. H. Korayem ◽  
V. Azimirad ◽  
H. Vatanjou ◽  
A. H. Korayem
Keyword(s):  
Optimal Control ◽  
Degrees Of Freedom ◽  
Large Scale ◽  
Maximum Load ◽  
Mobile Manipulator ◽  
Interaction Terms ◽  
Different Types ◽  
Interaction Variables ◽  
Maximum Allowable Dynamic Load

SUMMARYThis paper presents a new method using hierarchical optimal control for path planning and calculating maximum allowable dynamic load (MADL) of wheeled mobile manipulator (WMM). This method is useful for high degrees of freedom WMMs. First, the overall system is decoupled to a set of subsystems, and then, hierarchical optimal control is applied on them. The presented algorithm is a two-level hierarchical algorithm. In the first level, interaction terms between subsystems are fixed, and in the second level, the optimization problem for subsystems is solved. The results of second level are used for calculating new estimations of interaction variables in the first level. For calculating MADL, the load on the end effector is increased until actuators get into saturation. Given a large-scale robot, we show how the presenting in distributed hierarchy in optimal control helps to find MADL fast. Also, it enables us to treat with complicated cost functions that are generated by obstacle avoidance terms. The effectiveness of this approach on simulation case studies for different types of WMMs as well as an experiment for a mobile manipulator called Scout is shown.

scholarly journals Penerapan metode fuzzy sugeno untuk prediksi persediaan bahan baku

2019 ◽  
Vol 9 (2) ◽  
pp. 12-20
Author(s):  
Julio Warmansyah ◽  
Dida Hilpiah
Keyword(s):  
Fuzzy Logic ◽  
Raw Materials ◽  
Mean Absolute Percentage Error ◽  
Raw Material ◽  
Percentage Error ◽  
Human Power ◽  
Absolute Percentage Error ◽  
Input Variables ◽  
A Company

 PT. Cahaya Boxindo Prasetya is a company engaged in the manufacture of carton boxes or boxes. The company's activities also include cutting and printing services using machinery and human power. The problem faced in this company is the difficulty of predicting the amount of inventory of raw materials that will be  included in the production. The remaining raw materials for production will be used as the final stock to get the minimum, the goal is to reduce excess stock Overcoming this problem, fuzzy logic is used to predict raw material inventories by focusing on the final stock. In this study using Fuzzy Sugeno, with three input variables, namely: initial inventory, purchase, production, while the output is the final stock. Determination of prediction results using defuzzification using the average concept of MAPE (Mean Absolute Percentage Error). The results obtained, using the Fuzzy Sugeno method can predict the inventory of raw materials with a MAPE value of 38%. 

scholarly journals DETERMINATION OF COST OF PRODUCTION IN CONDITIONS OF UNCERTAINTY OF ORDERS

2016 ◽  
Vol 4 (4) ◽  
pp. 499-504
Author(s):  
Ольга Глод ◽  
Olga Glod ◽  
Виктор Ланкин ◽  
Viktor Lankin
Keyword(s):  
Fuzzy Logic ◽  
Expert Knowledge ◽  
Small Enterprises ◽  
Methodological Basis ◽  
Cost Of Production ◽  
The Cost

The purpose of this paper is to examine the model to determine the cost of production of small enterprises. The methodological basis for the model is a fuzzy logic based on expert knowledge. As a result, in this paper we consider an example of the model, determined the cost of production of confectionery

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