摘要
机械手常要进行抓取作业 ,为了能把物体抓住而不因夹持力过大而对物体造成伤害 ,设计了一种具有压觉和滑觉功能的机器人触觉传感器 ,对机械手抓取物体时遇到的问题及相应的施力策略进行研究 ,设计了一种比例因子可调整的模糊控制器 ,并进行了实验研究 .实验证明 。
In order to grasp the object without damage to the object due to excessive force given by the manipulator,a tactile sensor with slide sense and force sense is designed. The grasping and tactics of giving force on the object are analyzed in theory,and a fuzzy_controller which is designed to adjust the proportion coefficient. Experiments show that the sensor and the controller can achieve soft_grasping.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
2002年第4期77-80,85,共5页
Journal of Harbin Engineering University
关键词
液压
机械手
触觉传感器
模糊控制
hydraulic
manipulator
tactile sensor
fuzzy_control
