MARC View

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001			vtls000101379
003			KUKTEM
005			20251117113341.0
008			170928t2017 my a f am 000 0 eng d
020			_aTHE0005162(Local)
039		9	_a201905131818 _bhanafiah _c201710030929 _dfateeha _y201709281229 _zfateeha
040			_aUMP
090			_aFKEE .A55 2017 r Thesis
100	0		_aNor Anis Aneza Lokman
245	1	0	_aFuzzy-logic based gripper design and analysis for objects grasping / _cNor Anis Aneza Lokman
260			_aKuantan, Pahang : _bUMP, _c2017
300			_axiv, 91 p. : _bill. (some col.) ; _c30 cm. + _e1 CD-ROM
500			_aFaculty of Electrical and Electronics Engineering
502			_aThesis (Master of Engineering (Electronic)) -- Universiti Malaysia Pahang – 2017
504			_aBibliography : p. 79-84
520	3		_aThree fingered gripper is one of the examples for end effector in robotic technologies that are actuated by the controller and joint actuator. Gripper has been used widely in industrial applications such as to pick and place, product assembly, paintings, and other tasks. In this research, one of the methods in Artificial Intelligence known as Fuzzy Logic (FL) is applied to control the gripper movement for object grasping. Firstly, the gripper is designed by using SimMechanics in Matlab Simulink to get the better outputs torque and simulated angle in grasping technique. The grasping of different sizes of objects are also examined and then the comparison between two controllers; FL and Proportional-Integral-Derivative (PID) were organized to assess their performance. The methods of FL with feedback controller (FLwFB) is proposed in this research to compare its performance to the FL without feedback (FLw/oFB) in the system. Simulation analysis for this comparison is also presented. The gripper grasps the objects properly with the feedback to adjust the value in the system. The system has two inputs; desired angles and sizes of objects and two outputs; simulated angles and torques. The value of desired angles are compared with the simulated angles as a reference for the analysis purposes. This measurement demonstrates the gripper condition after grasping an object. Findings have shown that the outputs for trapezoidal function in FL has better performance than the other membership functions especially when the time response is concerned. During the investigation, there are two types fuzzy rules are taken in the analysis which is 3 number of rules and 5 number of rules. Simulation results suggested that 3 number of rules demonstrated a better solutions for this proposed system. The comparison results between FL and non-FL are also analyzed in the research and outcomes illustrated that FLwFB is better than others; the error between desired and simulated angle is small when the gripper grasping an object. To evaluate the performance of the proposed technique, FL and PID controllers performance in gripper are also considered. The result indicates that FL surpassed the PID performance when time response is considered. As a result of above research works, a new contribution for FL based gripper design has been achieved for different kind of object with a simple feedback system.
610	2	0	_aFaculty of Electrical and Electronics Engineering _xDissertations
650		0	_aUniversities and Colleges _xDissertations
650		0	_aTheses
999			_aVIRTUA40 _c7203 _d7209
999			_aVTLSSORT008002000400090010002450260030005000502050405200610065006501*9992