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Supervised by Ministry of Industry and Information Technology of The People's Republic of China Sponsored by Harbin Institute of Technology Editor-in-chief Yu Zhou ISSNISSN 1005-9113 CNCN 23-1378/T

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Related citation:JiangLi,PanJun.On set-point tracking control of dexterous robot hand[J].Journal of Harbin Institute Of Technology(New Series),2011,18(5):61-64.DOI:10.11916/j.issn.1005-9113.2011.05.011.
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On set-point tracking control of dexterous robot hand
Author NameAffiliation
JiangLi State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China 
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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