| 基于自适应模糊控制的多指手抓取控制研究 |
| |
| 引用本文： | 黄浩乾. 基于自适应模糊控制的多指手抓取控制研究[J]. 南京邮电大学学报(自然科学版), 2009, 9(20) |
| |
| 作者姓名： | 黄浩乾 |
| |
| 作者单位： | 南京农业大学工学院 |
| |
| 基金项目： | 移动式果树采摘机器人关键技术研究(2006AA10Z259);国家高技术研究发展计划（863计划） |
| |
| 摘 要： | 为了实现果实的稳定抓取，结合果实的生长情况设计了一种新型的多指机械手。采用自适应模糊进行控制，并在模糊输入输出记法上做了改进，仿真结果与理论分析一致，验证了该方法的合理性和有效性。
|
| 关 键 词： | 多指机械手 稳定抓取 自适应模糊控制 |
| 收稿时间： | 2009-07-06 |
| 修稿时间： | 2009-07-23 |
Research on Grasping Control of Multi-fingered Hands Based on Self-adaptive Fuzzy Control |
| |
| Huang hao qian. Research on Grasping Control of Multi-fingered Hands Based on Self-adaptive Fuzzy Control[J]. JJournal of Nanjing University of Posts and Telecommunications, 2009, 9(20) |
| |
| Authors: | Huang hao qian |
| |
| Abstract: | A new multi-fingered hand was designed to achieve the aim of grasping steadily , combining the situation of the fruit growth in the article. Self-adaptive fuzzy control was adopted, and it was improved in the denotation of the fuzzy input and output. Simulations are the same with the theoretical analysis and the validity of proposed method is verified. |
| |
| Keywords: | Multi-fingered hands Grasping steadily Self-adaptive fuzzy control |
|
| 点击此处可从《南京邮电大学学报(自然科学版)》浏览原始摘要信息 |
|
点击此处可从《南京邮电大学学报(自然科学版)》下载免费的PDF全文 |
