...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Integrating fuzzy control of the dexterous National Taiwan University (NTU) hand
【24h】

Integrating fuzzy control of the dexterous National Taiwan University (NTU) hand

机译：灵巧的台湾大学（NTU）手的集成模糊控制

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Compared to traditional tendon-driven robots, the mechanism design of the National Taiwan University hand has an uncoupled configuration and is compact in size. In this paper, a specially designed compact control system, which is embedded into the NTU hand to satisfy the limited space, is developed to perform the control of the five-finger robot with 17 degrees of freedom (DOF). There are total 17 actuators including transmission mechanism, 17 potentiometers, and 18 tactile sensor pads to be integrated. Those 17 actuators should be controlled simultaneously by integrating 17 position sensing signals and 18 tactile signals. Multi-loop position control is further complicated by multi-loop force control as well as sensor integration. The proposed control system distributes the computation load into several modules and utilizes the DSP chip. It takes advantage of the fuzzy control by introducing the knowledge of human and sensor fusion with the finger joint and tactility. Using the communication function of the control system, the knowledge bases can be loaded for high level computation and modified during run time.
机译：与传统的肌腱驱动机器人相比，国立台湾大学机械手的机构设计具有解耦配置，并且尺寸紧凑。在本文中，开发了一种特殊设计的紧凑型控制系统，该系统嵌入到NTU的手中，以满足有限的空间，它可以执行具有17个自由度（DOF）的五指机器人的控制。总共有17个执行器，包括传动机构，17个电位器和18个触觉传感器垫。应该通过集成17个位置感应信号和18个触觉信号同时控制这17个执行器。多回路位置控制由于多回路力控制以及传感器集成而变得更加复杂。所提出的控制系统将计算负荷分配到几个模块中，并利用DSP芯片。它通过引入人和传感器与手指关节和触觉的融合知识来利用模糊控制。使用控制系统的通讯功能，可以加载知识库以进行高级计算并在运行时进行修改。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号