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Abstract - Robotic grippers are commonly required to grasp and manipulate loads under a wide range of operating
conditions, without the load slipping from the end-effector and avoiding damage to the load. The increasing demand on
robotic gripper performance leads to the use of advanced control strategies. In the present paper, a novel approach for
on-line adaptive tuning of Support Vector Regression (SVR) based controller for a two finger robot gripper using RBF
kernel is presented. The efficacy of the controller is tested on Robot gripper and compared with unsymmetrical triangular
input fuzzy logic controller. It is observed that the proposed controller results to a better response than the unsymmetrical
fuzzy sets.
Keywords -Support vector regression, RBF kernel,triangular fuzzy sets, robot gripper
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feature space where linear regression is possible. the influence of inertia, the desired force Fi(t) is
The mapping depends on the intrinsic topological defined as follows:
structure of the data and application‐domain Fi (t ) N(, t ){Fd F(, t )}
knowledge. It implies that the kernel type and all
Input u(t) can be expressed by
parameters need be optimally chosen to get the
u(t ) K p {Fi (t ) F(t )}
best performance. However, there are no structural
methods for determining efficiently the selection of
where F(t)is output, or the measured grasping
kernel and all parameters. Moreover, because C
force, and Kp indicates the proportional gain.
and ‐values affect the model in a different way P
Robot gripper control in this paper is the control of
the force exerted over the gripping area[1][2][3].
The robot gripper used is shown in Fig.1. Two
fingers were moved by DC servo motors through a
ball screw, and each finger could be shifted in one Figure 1. Robot gripper that can emulate human
direction. Grasping forces were measured by grasping motion
attached strain gauges through a low pass filter
[cut off frequency: 200 Hz] and an amplifier. Fig. 2
shows the control system for the robot gripper. A A system representing the complete model for
block diagram of the control system is shown in Robot gripper control is considered. Fuzzy PI
Fig 2. . F(α) represents the grasping force to controller is applied to it. For convenience the
compensate for the inertial force, which is F̂ ()
additional disturbance Inertia force is made
calculated from the observed acceleration. The sum
of the reference input Fd and disturbance F(α) is equal to zero. Fig. represents Block diagram for the
applied to the controlled element after being control of robot gripper using SVR controller.
multiplied by the safety factor N(α), which is
changed by the acceleration. Taking into account
Inertiaforce
F̂( )
+
+ F̂
F̂d K 1K 2 1
N(α) Kp
+ + ‐ (1 s )s s
Controller Kp
Ki
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4 Performance Analysis: Figure 4. Unit step response of robot gripper
controller using symmetrical and unsymmetrical
From the graphs fig 3 and Fig 4 it can be observed fuzzy ontroller and conventional controller for
that the rise time and settling time for the N(α)=1.2
proposed controller are less compared to rise time
and settling time for the conventional controller. 5 CONCLUSIONS:
That is proposed controller gives the
fast response than fuzzy controllers with In this paper a controller is designed using RBF
unsymmetrical input fuzzy sets[7] have better support vector Regression(SVR) technique to
performance than fuzzy controller with control the robotic gripper. Obtained results are
unsymmetrical fuzzy sets and conventional compared with the conventional controller. From
controller
the simulated results it can be concluded that the
performance of the proposed controller have
better performance than a fuzzy controller with
unsymmetrical fuzzy sets and also that of the
conventional controller.
6 References
SVR controller
[1] Nobuaki Nakazawa, Il‐hwan Kim, Hikaru
PID controller Inooka, Ryojun Ikeura, ʺForce control of a
robot gripper based on human grasping
Fuzzy unsymmetrical
schemes”, Control Engineering Practice,
September 2001, pp 735‐742.
[2] N.I.Glossas and N.A.Aspragthos , “Fuzzy
Figure 3. Unit step response of robot gripper Logic grasp control using tactile
controller using symmetrical and unsymmetrical sensors”,,Mechatronics, Volume 11, Issue
fuzzy controller and conventional controller for 7, October 2001, pp. 899‐920.
N(α)=1
[3] M.F.Barsky, D.K.Lmdner, R.O.Claus,
“Robot Gripper Control System
demonstrating PVDF piezoelectric
sensors”, Proceedings of IEEE
International Ultrasonics Symposium,
1986, pp. 545‐548.
[4] S. R. Gunn, “Support Vector Machines for
Classification and Regression,” Technical
SVR controller
Report, Image Speech and Intelligent
PID controller Systems Research Group, University of
Southampton, 1997.
Fuzzy unsymmetrical [5 V. Vapnik. The Nature of Statistical
Learning Theory. Springer, N.Y., 1995.
ISBN0‐387‐94559‐8.
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