ass日本风韵熟妇pics男人扒开女人屁屁桶到爽|扒开胸露出奶头亲吻视频|邻居少妇的诱惑|人人妻在线播放|日日摸夜夜摸狠狠摸婷婷|制服 丝袜 人妻|激情熟妇中文字幕|看黄色欧美特一级|日本av人妻系列|高潮对白av,丰满岳妇乱熟妇之荡,日本丰满熟妇乱又伦,日韩欧美一区二区三区在线

An intelligent controller using adaptive neuro-fuzzy inference system was developed to control the force of gripping fruits and vegetables of an agricultural robot. The inputs of the controller are the current griping force and the detail coefficients of discrete wavelet transform of the signal from slipping sensor fixed on the robotic end effector. The output of the controller is the displacement of fingers of the end effector. Firstly, a subtractive clustering was applied to generate a fuzzy model, and the radius of the clustering was adjusted to optimize the fuzzy rules. Then methods of sampling training data were introduced, and a hybrid training algorithm consisting of the gradient descent and least square algorithms was implemented to tune antecedent parameters and consequent part of the model. Finally, the experiments of controlling the griping force were carried out. It shows that the controller is able to adapt itself to differences of the fruits and vegetables in mass and surface friction characteristics. Moreover the controlling overshoot of griping force is restrained successfully and less than 0.8N, which prevented the grasping of fruits and vegetables from mechanical destruction.