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چکیده ندارد.
Adaptive neuro fuzzy controller for adaptive compliant robotic gripper
The requirement for new flexible adaptive grippers is the ability to detect and recognize objects in their environments. It is known that robotic manipulators are highly nonlinear systems, and an accurate mathematical model is difficult to obtain, thus making it difficult no control using conventional techniques. Here, a novel design of an adaptive neuro fuzzy inference strategy (ANFIS) for con...
متن کاملDevelopment of a new type of passively adaptive compliant gripper
Purpose – Passively compliant underactuated mechanisms are one way to obtain the gripper which could accommodate to any irregular and sensitive grasping object. The purpose of the underactuation is to use less active inputs than the number of degrees of freedom of the gripper mechanism to drive the open and close motion of the gripper. Another purpose of underaction is to reduce the number of c...
متن کاملProposal of a shape adaptive gripper for robotic assembly tasks
This paper proposes a novel robotic gripper used for assembly tasks that can adaptively grasp objects with different shapes. The proposed hand has a combined structure between two kinds of shape adaptive mechanisms where one is the granular jamming and the other is a multi-finger mechanism driven by a single wire. Due to the effect of the two shape adaptive mechanisms, the pose of a grasped obj...
متن کاملNYU Reactive Gripper : An Implementation
We consider the problem of grasping an unknown polygonal at object using a parallel jaw gripper. Our design equips a standard gripper with several light-beam sensors (close to each jaw) and employs a control scheme based on a reactive grasping algorithm. This is done by probing the object to locate a good grasp position, and then grasping, without moving the object signiicantly. The goal is to ...
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ژورنال
عنوان ژورنال: Applied Mathematical Modelling
سال: 2014
ISSN: 0307-904X
DOI: 10.1016/j.apm.2013.11.038