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题名: Design of a grasp force adaptive control system with tactile and slip perception
作者: 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: 2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012
会议录出版者: IEEE Computer Society
会议录出版地: Washington, DC, USA
出版日期: 2012
页码: 1101-1105
收录类别: EI
ISSN号: 2161-8070
ISBN号: 9781467304283
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.
产权排序: 3
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10423
Appears in Collections:机器人学研究室_会议论文

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