触滑觉传感器的自适应模糊控制

Adaptive Fuzzy Control Tactile＆Slip Sensor

本文引入了自适应模糊控制方法，通过对滑动信号的模糊控制器设计，控制机械手与接触界面的夹持力，表明了滑动信号的检测与接触力的控制可有效实现机械手对柔软、易碎、易变形物体的安全稳定抓取。

This paper introduces adaptive fuzzy control method, through the slip signal fuzzy controller design,control the manipulator and the contact surface of the clamping force,that the slip signal detection and control of contact forces can effectively achieve mechanical hand on the soft,easy to broken,easy to deform objects capture the security and stability.