Fuzzy control based on double position feedback for multi-fingered dexterous hand

被引：0
|
作者：
He, YQ [1 ]
Zhu, GC [1 ]
Luo, YY [1 ]
Zhang, QX [1 ]
机构：
[1] Beijing Univ Aeronaut & Astronaut, Robot Res Inst, Beijing 100083, Peoples R China
来源：
2001 INTERNATIONAL WORKSHOP ON BIO-ROBOTICS AND TELEOPERATION, PROCEEDINGS | 2001年
关键词：
multi-fingered dexterous hand; fuzzy control; double position feedback; nonlinearity;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A fuzzy control scheme based on double position feedback for multi-fingered dexterous hand is presented. In the inner closed loop, general PID control method based on encoder feedback of motor is adopted, and in the outer closed loop, a new fuzzy control based on position feedback of joint is adopted. In the two-layered position feedback control scheme, the nonlinear tendon-driven system is included in the outer closed loop. Compared with half closed loop structure which has only encoder feedback it can improve stability and robustness of control system. Experiment verify that the control scheme can improve tracking accuracy obviously.
引用
收藏
页码：189 / 193
页数：5
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