| 水下作业液压机械手软抓取技术的研究 |
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| 引用本文： | 谭定忠. 水下作业液压机械手软抓取技术的研究[J]. 机床与液压, 2000, 0(6): 51-52 |
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| 作者姓名： | 谭定忠 |
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| 作者单位： | 哈尔滨工程大学机电工程学院!150001 |
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| 摘 要： | 水下机械手常要进行抓取作业，为了能把物体抓住而又不因夹持力过大而对物体造成伤害，本文设计了一种用于水下的滑觉传感器，对抓取时遇到的问题及相应的施力策略进行研究，并设计了一种模糊神经网络控制器，它具有自学习、并行分布存储信息及快速模糊推理的能力，能够满足机械手软抓取作业的要求。
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| 关 键 词： | 水下机械手 滑觉传感器 模糊神经网络 抓取策略 |
Researchon underwater hydraulic manipulater soft-grasping |
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| Tan Dingzhong et al. Researchon underwater hydraulic manipulater soft-grasping[J]. Machine Tool & Hydraulics, 2000, 0(6): 51-52 |
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| Authors: | Tan Dingzhong et al |
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| Affiliation: | Tan Dingzhong et al |
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| Abstract: | A slide tactile sensor which can work in the water is designed in this paper The problems in grasping and strategy of giving force on the object is theoretically analyzed A fuzzy-neural network which has the abilities of automatic knowledge acquisition, distributed information storage and quick fuzzy reasoning and decision-making is designed, and it can meet the demand in soft-grasping |
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| Keywords: | Underwater Manipulator Slide tactile senosor Fuzzy-meural netwrp |
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