Fuzzy control for robotic power grasp

Abstract

This paper presents a fuzzy controller for a robotic power grasp system. The controller works to achieve three objectives: obtaining contact with all finger links and the palm, centering the object in the grasp, and controlling the link and palm normal forces such that they lie within a specified clinch range. To perform the control, fuzzy rules which exploit the natural dynamics of the system were developed. The controller's performance is evaluated through the use of case studies. The controller is shown to effectively control the normal forces in a pickup operation and to be robust to changes in friction in centering.