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Underactuated fingers of the Bristol Elumotion Robot Hand (BERUL) have many problems which need to be resolved for the implementation of a trajectory following and position control scheme. The hand has significant friction and stiction and unknown parameters; it is light in weight and fragile. Moreover, the hand has 5 fingers with 16 degrees of freedom and most of the fingers are underactuated. All...
The use of gantry crane systems for transporting payload is very common in industrial application. However, moving the payload using the crane is not an easy task especially when strict specifications on the swing angle and on the transfer time need to be satisfied. To overcome this problem, an intelligent gantry crane system had been introduced. Fuzzy logic controllers were adopted, designed and...
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