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Design of a grasp force adaptive control system with tactile and slip perception
Huang, Zhao-Xiang; Zhang XD(张小栋); Li YN(李耀楠)
作者部门机器人学研究室
会议名称2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012
会议日期August 20-24, 2012
会议地点Seoul, Korea, Republic of
会议录名称2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012
出版者IEEE Computer Society
出版地Washington, DC, USA
2012
页码1101-1105
收录类别EI
EI收录号20130415934284
产权排序3
ISSN号2161-8070
ISBN号978-1-4673-0428-3
关键词Brushless Dc Motors Sustainable Development
摘要This paper realizes the tactile and slip perception of prostheses finger by using of PVDF (Polyvinylidene Fluoride) piezoelectric membrane. The mathematics model of brushless DC motor is constructed and the characteristics of PVDF tactile and slipping sensor are analyzed. The PID controller is adaptive by designing the control system with tactile and slip feedback. The feedback system implements adaptive control. The simulink dynamic model of the control system is modeled. The simulation results show the control system can satisfy the requirements and has good response characteristics.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10423
专题机器人学研究室
作者单位1.Suzhou Academy, Xi'An Jiaotong University, Soochow, Jiangsu Province 215123, China
2.School of Mechanical Engineering, Xi'An Jiaotong University, Shaanxi Province 710049, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Liaoning Province 110016, China
推荐引用方式
GB/T 7714
Huang, Zhao-Xiang,Zhang XD,Li YN. Design of a grasp force adaptive control system with tactile and slip perception[C]. Washington, DC, USA:IEEE Computer Society,2012:1101-1105.
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