Abstract
In this study, the aim was to grasp and lift an unknown object without causing any permanent change on its shape using a robotic hand. When people lift objects, they add extra force for safety above the minimum limit value of the grasp force. This extra force is expressed as the “safety margin” in the literature. In the conducted study, the safety margin is minimized and the grasp force was controlled. For this purpose, the safety margin performance of human beings for object grasping was measured by the developed system. The obtained data were assessed for a fuzzy logic controller (FLC), and the fuzzy safety margin derivation system (SMDS) was designed. In the literature, the safety margin rate was reported to vary between 10% and 40%. To be the basis for this study, in the experimental study conducted to measure the grip performance of humans, safety margin ratios ranging from 9% to 20% for different surface friction properties and different weights were obtained. As a result of performance tests performed in Matlab/Simulink environment of FLC presented in this study, safety margin ratios ranging from 8% to 21% for different surface friction properties and weights were obtained. It was observed that the results of the performance tests of the developed system were very close to the data of human performance. The results obtained demonstrate that the designed fuzzy SMDS can be used safely in the control of the grasp force for the precise grasping task of a robot hand.
Highlights
Different robot applications are seen in almost every area of life
It is expected that a robot can perform tasks such as grasping and lifting objects by controlling its hands, arms, and fingers, just like a human
The main element keeping the object hanging between the fingers without slipping and falling is the friction force
Summary
Different robot applications are seen in almost every area of life. Robots are in the future plans of countries. In Japan, where the robot industry has been developed, the slogan of “A robot for every home” has become the goal of the country. Robots are interdisciplinary devices that consist of electronic and mechanical units for various physical skills to mimic the functions and behaviors of living creatures and have the abilities of sensing and performing tasks with programmable algorithms. It is expected that a robot can perform tasks such as grasping and lifting objects by controlling its hands, arms, and fingers, just like a human. Grasping was divided into two main classes by Cutkosky,[1] power grasp and precision grasp, distinguished by the Faculty of Engineering and Natural Sciences, Department of Electrical and Electronic Engineering, Iskenderun Technical University, _Iskenderun, Hatay, Turkey
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