Tactile Identification of a Surface by Fuzzy Control

Tactile Identification of a Surface by Fuzzy Control

A hybrid control system has been developed for an anthropomorphic gripping device capable of grasping an object whose physicomechanical and geometric characteristics are unknown. The surface is identified on the basis of a multiply connected inverse pendulum, simulating the hand of a gripping device...

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Veröffentlicht in:Russian engineering research 2019-06, Vol.39 (6), p.492-498
Hauptverfasser: Chizhikov, V. I., Kurnasov, E. V.
Format: Artikel
Sprache:eng
Schlagworte:
ALGORITHMS
Automatic control systems
Computer simulation
Control algorithms
CONTROL SYSTEMS
Control theory
ENGINEERING
Engineering Design
Fuzzy control
FUZZY LOGIC
Fuzzy systems
GEOMETRY
Grasping
Hybrid control
Hybrid systems
HYBRIDIZATION
MECHANICAL VIBRATIONS
OSCILLATIONS
Pendulums
PROSTHESES
ROBOTS
SURFACES
TIME MEASUREMENT
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Beschreibung
Zusammenfassung:A hybrid control system has been developed for an anthropomorphic gripping device capable of grasping an object whose physicomechanical and geometric characteristics are unknown. The surface is identified on the basis of a multiply connected inverse pendulum, simulating the hand of a gripping device. A fuzzy control algorithm is synthesized for a two-level hybrid automatic control system.
ISSN:1068-798X
1934-8088
DOI:10.3103/S1068798X19060108