·290· 北京科技大学学报 1998年第3期： 规则，对参数的变化有较强的鲁棒性，通过分级控制实现对质量未知的物体稳定抓握，因此，【 这种控制方法与常规模糊控制相比，具有响应时间快、抓握力无超调的特点，效果令人满意， 参考文献 I Yong-Tae Kim,Zeungnam Bien.Robust Self-Leaming Fuzzy Logic Controller.In:IEEE Int Conf on Robotics and Automation.Nagoya,1995.1172 2 Stipanicev D,Neyer M.Gorez R.Self-Turning Self-Origanizing Fuzzy Robot Control.In:IFAC Robot Control.Vienna,1991.171 3 Kazuo Kiguchi,Toshio Fukuda.Robot Manipulator Contact Force Control Application of Fuzzy-Neu- ral Network.In:IEEE Int Conf on Robotics and Automation.Nagoya,1995.875 4原魁，于澈.机器人多指手的位置一力混合控制北京科技大学学报，1998,20(2)：183 Self-tuning Fuzzy Control of Robot Hand Yu Che Yuan Kui Yu Datai Huang Xiaobin 1)Information Engineering School.UST Beijing.Beijing 100083.China 2)The Automation Dept (No.8 Dept)of Metallurgical Equipment Co of China.Beijing 100711 ABSTRACT Applying self-tuning fuzzy control on USTB(University of Science and Technogoly Beijing)double thumb hand,adjusting fuzzy control parameters and control rules,fast respond time and no overshooting control of grasp force is obtained.Adopting grade control,an unkown mass object is grasped stably.Experimental results confirm that self-tuning fuzzy control has better effect than ordinary fuzzy control. KEY WORDS self-tuning fuzzy control;ordinary fuzzy control;no overshooting control of grasp force,grade control