基于滑觉功能的机器人多指手稳定抓取方法

Approach to Stable Grasping of Multi-fingered Robot Hand Based on Slip Sensor

摘要: 提出机器人多指手滑觉功能的一种实现方法和基于滑觉功能的机器人多指手力反馈控制方法.机器人多指手的滑觉功能是通过检测力觉传感器输出的变化而实现的,而通过将滑觉判断与力反馈控制相结合,并在力反馈控制系统中引入分级模糊控制的思想则可以使机器人多指手在实现滑觉功能的同时完成对物体的稳定抓取.

Abstract: A slip sensing method for multi-fingered robot hand is proposed which is realized by detecting the changes of force sensors on the robot hand. Stable grasping of an object based on slip sensing can be obtained by combining the slip sensing algorithm with the force control algorithm and using the idea of multi-level fuzzy control.