کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
561514 1451888 2012 17 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Force feedback controller based on fuzzy-rules emulated networks and Hertzian contact with ultrasound
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر پردازش سیگنال
پیش نمایش صفحه اول مقاله
Force feedback controller based on fuzzy-rules emulated networks and Hertzian contact with ultrasound
چکیده انگلیسی

In this paper, a novel force controller which combines a neuro-fuzzy algorithm and a contact ultrasonic probe is presented. The fuzzy rules emulated network (FREN) has a control algorithm structure based on fuzzyIF–THEN rules. The contact probe is constructed of an ultrasonic transducer and a force sensor integrated on a semi-spherical head controlled by a robotic system of four degrees of freedom. The experimental results show that the proposed system exhibits high sensitivity to initial instantaneous contact and it could provide an estimation of reaction force and elastic modulus of the test material by analyzing loading/unloading cycles. The system was tested on samples with different mechanical properties.


► A force controller which combines a neuro-fuzzy algorithm and a contact ultrasonic probe.
► High sensitivity to initial contact.
► Estimation of reaction force and elastic modulus of the test material by analyzing loading/unloading cycles.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanical Systems and Signal Processing - Volume 27, February 2012, Pages 534–550
نویسندگان
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