基于模糊逻辑控制的机器人灵巧手的抓取方式

Grasp Modes of Robot Dexterous Hand Based on Fuzzy Logic Control

机器人灵巧手抓取方式控制是整个灵巧手操作规划一个非常重要的环节。该文介绍了3种典型的抓取方式:平行抓取、聚中抓取和镊式抓取。以被抓取物体的尺寸为输入量,抓取方式作为输出量,提出了一种基于模糊逻辑的灵巧手抓取控制算法,并对这种算法进行了推导。在实际的机器人灵巧手遥操作系统中的应用表明,这种基于模糊控制的灵巧手抓取方式控制方法是正确有效的,具有使用价值。

Controlling the grasp mode is a very important part of the manipulation of the dexterous hand. This paper describes three typical grasp modes, parallel grasp mode, center grasp mode and nipper grasp mode. Regarded as input variable for the size of object and output variable for the grasp modes, the paper introduces a controlling arithmetic of dexterous hand grasp mode based on fuzzy logic and deduces the arithmetic. The application in the dexterous hand virtual teleoperation system shows that the arithmetic control of dexterous hand grasp mode is correct and valuable.