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On set-point tracking control of dexterous robot hand

本站小编 哈尔滨工业大学/2019-10-23

On set-point tracking control of dexterous robot hand

JiangLi, PanJun

State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China



Abstract:

A model-free set-point tracking control approach of multi-fingered robot hand is presented.The set-point tracking controller,which has the structural form of PD controller,is composed with a combination of feedforward term,feedback term and saturation control term.The controller does not require the explicit use of dynamic modeling parameters.Experiments performed on the HIT/DLR hand demonstrate the effectiveness of the proposed approach in performance improvement and real-time application.

Key words:  tracking control  robot hand  kinematics

DOI:10.11916/j.issn.1005-9113.2011.05.011

Clc Number:TP242

Fund:


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