Research on fuzzy control of multi-fingered robot hand

The multifingered robot hand is a key part of a robot to accomplish tasks intelligently. Based on the synthetically analyses of the status and development levels of the multifingered robot hands at home and abroad, this paper mainly studies on the method of the multifingered robot hand using many FSR(Force Sensing Resister) to grasp object steadily and decide the time when the slip happened during the grasping process. Firstly, this paper analyses the complication of the multifingered hand forcing control problem and the impossibility to control the multifingered hand by establishing a control model structure of a single joint. Secondly, the feasibility of the FUZZY control in force of the multifingered hand is studied, and in order to make the multifingered hand adapt to a great variety of objects automatically, a regulation to revise target value based on the slip times and grasping force is presented. According to the characteristic of the robot hand that force adjustment exceeding a limit is not allowed while grasping, this paper put forward a proposal of grade fuzzy control. More over, a method to computer the finger force is given. This method based on the distribution of the force sensor Finally, many grasping tests are made. The result makes know that methods which this paper presented are effective..