Abstract
In this paper, a fuzzy control approach is presented to integrate multisensor data for performing grasping operations by a robot manipulator. Multiple sensors are employed not only to form environment models, but also to supervise the whole motion process. The functions and uncertainties of these sensors are simulated. Four fuzzy rule sets are developed for selecting appropriate sensors, controlling gross motion, adjusting fine motions and closing the effector. Some simulated examples show the working process of robot grasping by using these fuzzy rules.
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© 1995 ECSC-EC-EAEC, Brussels-Luxembourg
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Zhang, J., Raczkowsky, J., Heinrich, A. (1995). Robot Grasping by Integrating Multisensor Data with Fuzzy Logic. In: Pfleger, S., Gonçalves, J., Varghese, K. (eds) Advances in Human-Computer Interaction. Research Reports Esprit, vol 1. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-85220-6_11
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DOI: https://doi.org/10.1007/978-3-642-85220-6_11
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-60145-6
Online ISBN: 978-3-642-85220-6
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