کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
6955937 | 1451862 | 2015 | 8 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Prediction of contact forces of underactuated finger by adaptive neuro fuzzy approach
ترجمه فارسی عنوان
پیش بینی نیروهای تماس انگشت تحت فشار با رویکرد فازی تطبیقی
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
پردازش سیگنال
چکیده انگلیسی
To obtain adaptive finger passive underactuation can be used. Underactuation principle can be used to adapt shapes of the fingers for grasping objects. The fingers with underactuation do not require control algorithm. In this study a kinetostatic model of the underactuated finger mechanism was analyzed. The underactuation is achieved by adding the compliance in every finger joint. Since the contact forces of the finger depend on contact position of the finger and object, it is suitable to make a prediction model for the contact forces in function of contact positions of the finger and grasping objects. In this study prediction of the contact forces was established by a soft computing approach. Adaptive neuro-fuzzy inference system (ANFIS) was applied as the soft computing method to perform the prediction of the finger contact forces.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanical Systems and Signal Processing - Volumes 64â65, December 2015, Pages 520-527
Journal: Mechanical Systems and Signal Processing - Volumes 64â65, December 2015, Pages 520-527
نویسندگان
Dalibor PetkoviÄ, Shahaboddin Shamshirband, Almas Abbasi, Kourosh Kiani, Eiman Tamah Al-Shammari,