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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)
Department机器人学研究室
Conference Name2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012
Conference DateAugust 20-24, 2012
Conference PlaceSeoul, Korea, Republic of
Source Publication2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012
PublisherIEEE Computer Society
Publication PlaceWashington, DC, USA
2012
Pages1101-1105
Indexed ByEI
EI Accession number20130415934284
Contribution Rank3
ISSN2161-8070
ISBN978-1-4673-0428-3
KeywordBrushless Dc Motors Sustainable Development
AbstractThis 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.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10423
Collection机器人学研究室
Affiliation1.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
Recommended Citation
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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