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

In order to analyze the impact of robot grasping control modes on mechanical damage of tomato, the Burgers model was used to express the deformation characteristics of tomato, and the viscoelastic parameters of tomato were obtained by the creep experiment. Three kinds of variations of speed, i.e., motion with uniform deceleration, deceleration after uniform motion and motion with variable deceleration were selected to indicate different grasping control modes. The linear function, Butterworth amplitude square function and exponential function were used to represent different grasping control modes during the robot grasping process. On this basis, the model of plastic deformation of tomato was solved, and the rules of tomato plastic deformations in different grasping control modes were analyzed when the grasping time was constant. Then, the optimal grasping strategy was selected based on the minimum plastic deformation. Experimental results indicated that the third grasping control mode was selected as the best grasping strategy, when the grasping speed was 1mm/s, the grasping time was 1s, the plastic deformation of tomato was the smallest, the early maturity and middle maturity of plastic deformations were 0.0026mm and 0.0098mm, respectively. Using the third grasping control mode to carry out the grasping control experiment, the simulation results were highly identical with measured results, the determination coefficient R2 was 0.99, which proved the rationality and feasibility of the third mode as the optimal grasping control mode. This research can offer a reference for robots grasping process optimization.