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ANN control based on patterns recognition for a robotic hand under different load conditions
المؤلفون المشاركون
Baqir, Ihsan Abd al-Husayn
Abd al-Razzaq, Haydar Ahmad
Tawfiq, Muwaffaq Ali
المصدر
Journal of University of Babylon for Engineering Sciences
العدد
المجلد 26، العدد 5 (31 مايو/أيار 2018)، ص ص. 176-198، 23ص.
الناشر
تاريخ النشر
2018-05-31
دولة النشر
العراق
عدد الصفحات
23
التخصصات الرئيسية
الملخص EN
In this paper, the Artificial Neural Network (ANN) is trained on the patterns of the normal component to tangential component ratios at the time of slippage occurrence, so that it can be able to distinguish the slippage occurrence under different type of load (quasi-static and dynamic loads), and then generates a feedback signal used as an input signal to run the actuator.
This process is executed without the need for any information about the characteristics of the grasped object, such as weight, surface texture, shape, coefficient of the friction and the type of the load exerted on the grasped object.
For fulfillment this approach, a new fingertip design has been proposed in order to detect the slippage in multi-direction between the grasped object and the artificial fingertips.
This design is composed of two under-actuated fingers with an actuation system which includes flexible parts (compressive springs).
These springs operate as a compensator for the grasping force at the time of slippage occurrence in spite of the actuator is in stopped situation.
The contact force component ratios can be calculated via a conventional sensor (Flexiforce sensor) after processed the force data using Matlab/Simulink program through a specific mathematical model which is derived according to the mechanism of the artificial finger.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Baqir, Ihsan Abd al-Husayn& Tawfiq, Muwaffaq Ali& Abd al-Razzaq, Haydar Ahmad. 2018. ANN control based on patterns recognition for a robotic hand under different load conditions. Journal of University of Babylon for Engineering Sciences،Vol. 26, no. 5, pp.176-198.
https://search.emarefa.net/detail/BIM-923612
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Baqir, Ihsan Abd al-Husayn…[et al.]. ANN control based on patterns recognition for a robotic hand under different load conditions. Journal of University of Babylon for Engineering Sciences Vol. 26, no. 5 (2018), pp.176-198.
https://search.emarefa.net/detail/BIM-923612
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Baqir, Ihsan Abd al-Husayn& Tawfiq, Muwaffaq Ali& Abd al-Razzaq, Haydar Ahmad. ANN control based on patterns recognition for a robotic hand under different load conditions. Journal of University of Babylon for Engineering Sciences. 2018. Vol. 26, no. 5, pp.176-198.
https://search.emarefa.net/detail/BIM-923612
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references : p. 196-198
رقم السجل
BIM-923612
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
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