Fuzzy control of a suction-based robotic gripper system

Abstract

This paper presents a method to regulate and maintain the necessary amount of suction generated and used by a robotic gripper system to perform distortion-free manipulation of limp material. A fuzzy logic control scheme is used for both the determination and regulation of suction. Suction regulation is achieved by controlling the voltage applied to the suction generation motor. The presented approach is found to enhance the overall functionality of the existing robotic gripper system.