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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On set-point tracking control of dexterous robot hand
本站小编 哈尔滨工业大学/2019-10-23
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