基于抓持稳定度的多指灵巧手抓持控制.pdfVIP

18 3 V o l. 18 No . 3 1997 5 A CT A A ERO N AU T ICA ET A ST R ON A U T I CA SIN ICA M ay 1997 ( , , 1000 83) GRASPING CONTROL OF THE DEXTEROUS HAND BASED ON THE DEGREE OF STABILITY OF GRASPING Wang Guoqing, Zhang Qix ian , L i Dazhai, H e Y ong qiang ( Ro bo ics Resear ch Ins i u e, Beijing U niv ersi y o f Aer onau ics and As r onau ics, Beij ing , 100083) , -2 , , BH T P 242. 6 . Abstract A me ho d is pr oposed fo r he s able gr asping co n r ol o f he dex er ou s hand A f ir s he def ini ion a nd calcula ing m e hod o f he deg ree of s abili y o f g rasping ( D SG) ar e g iv en, and hen he DSG -based con r ol me hod fo r he gr asping con r ol of he dex er ou s ha nd is explor ed. - T he DSG based g rasping con r ol of he dex er ou s hand is a new kind co n ro l loop a he ou side of he nor mal po si io n and fo rce co n ro l lo op , and i w o rks a he same ime w i h he po si io n and for ce con r ol lo op . During he manipula ion o f he dex er ou s hand he DSG a each sam - pling per iod is calcula ed and r ansla ed o fuzzy subse s . When he DSG is smaller han he g iv- en value, he sys em ca n increase i by adju s ing he po si io n and for ce con r ol lo op . A fuzzy rea so n sy s em is emplo yed by he co n ro ller o give o u he adju s ing scheme. Simula io ns hav e been done using he mo del o f he BH-2 dex er ou s ha nd dev elo ped by Beijing U niver si y o f Aer o- na u ics and A s ro nau ics and he resul s v erif ied he eff ec iveness of he pr oposed m e hod .