| 基于稳定抓取力学模型的末端执行器控制器设计 |
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| 引用本文： | 冯良宝,姬长英,田光兆,黄浩乾.基于稳定抓取力学模型的末端执行器控制器设计[J].江西农业学报,2010,22(7):105-106. |
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| 作者姓名： | 冯良宝 姬长英 田光兆 黄浩乾 |
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| 作者单位： | 南京农业大学,工学院,江苏,南京,210031 |
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| 摘 要： | 以苹果采摘机器人末端执行器稳定抓取为目标,建立了二指末端执行器抓取苹果的力学模型,提出了利用加速度传感器反馈进行优化控制的方法并设计基于BP神经网络和PID控制的自适应控制器。
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| 关 键 词： | 建模 加速度传感器 自主抓取 自适应优化 |
Design of End-actuator Controller Based on Mechanical Model for Steady Gabbing |
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| FENG Liang-bao,JI Chang-ying,TIAN Guang-zhao,HUANG Hao-qian.Design of End-actuator Controller Based on Mechanical Model for Steady Gabbing[J].Acta Agriculturae Jiangxi,2010,22(7):105-106. |
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| Authors: | FENG Liang-bao JI Chang-ying TIAN Guang-zhao HUANG Hao-qian |
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| Abstract: | Aiming at the steady grabbing of the end-actuator of apple-picking robot,the mechanical model of apple gabbing for two-finger end-actuators was established.Based on the mechanical model,the optimal control method with acceleration sensor feedback was proposed and one kind of adaptive optimization controller based on BP neural network and PID control was designed. |
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| Keywords: | End-actuator Mechanical model Controller Adaptive optimization |
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