A FUZZY CONTROLLED PNEUMATIC GRIPPER FOR ASPARAGUS HARVESTING

被引：13

作者：

MATTIAZZO, G

MAURO, S

RAPARELLI, T

VELARDOCCHIA, M

机构：

[1] Dipartimento di Meccanica, Politecnico di Torino, 10129 Torino

来源：

CONTROL ENGINEERING PRACTICE | 1995年 / 3卷 / 11期

关键词：

AGRICULTURE; FORCE CONTROL; FUZZY LOGIC; HANDLING; NONLINEAR SYSTEMS; PNEUMATIC SYSTEMS;

D O I：

10.1016/0967-0661(95)00166-R

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper presents a grasping unit for asparagus harvesting based on a commercially available pneumatic gripper. Highly reliable low-cost tactile sensors were developed to determine contact pressure during grasping. Experimental tests were conducted on all system components in order to achieve a thorough knowledge of the physical phenomena which determine system behaviour. A fuzzy control system was developed on the basis of this experimental data The paper then presents and discusses experimental data for grasping tests with different sizes of asparagus and different reference contact pressures to demonstrate the versatility and robustness of me system.

引用

页码：1563 / 1570

页数：8

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