On set-point tracking control of dexterous robot hand

被引：0

作者：

姜力

潘军

机构：

[1] StateKeyLaboratoryofRoboticsandSystem,HarbinInstituteofTechnology

来源：

JournalofHarbinInstituteofTechnology | 2011年 / 18卷 / 05期

关键词：

D O I：

暂无

中图分类号：

TP242 [机器人];

学科分类号：

1111 ;

摘要：

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.

引用

页码：61 / 64

页数：4