摘要
多指灵巧手与环境的接触力控制是其抓持物体并进行作业的基础，也是一个非常复杂的问题，本文用基于模糊控制的方法对多指灵巧手的接触力进行控制，并对非线性进行了补偿。
The force control of dexterous hands is very complicated. This paper presents in detail the design of an algorithm based on fuzzy logic theory for the contact force control of the BH 2 three fingered dexterous hand, including the compensation method for the nonlinerity of the driving system. Experiments have been made to verify the effectiveness of the designed control algorithm.
出处
《机器人》
EI
CSCD
北大核心
1997年第5期357-359,共3页
Robot
基金
国家"863"计划
中科院机器人学开放研究实验室资助课题
