Fuzzy logic position control of the mini-linear driver

摘要

In order to overcome the limitations of the end clamps of traditional robot, multifingered dextrous robot hands have been well developed since the last decade. A new fuzzy logic control structure is presented here for the position control of the mini-linear driver used in driving the joints of the dextrous robot hands. This method is proved ef- fective in simulations and practices, and especially useful when the external disturbance varies in a large range.