Fuzzy Control Based on Double Position Feedback for Multi-fingered Dexterous Hand

摘要

A fuzzy control scheme based on double position feedback for multi-fingered dexterous hand is presented. In the inner closed loop, general PED control method based on encoder feedback of motor is adopted, and in the outer closed loop, a new fuzzy control based on position feedback of joint is adopted. In the two-layered position feedback control scheme, the nonlinear tendon-driven system is included in the outer closed loop. Compared with half closed loop structure which has only encoder feedback, it can improve stability and robustness of control system. Experiment verify that the control scheme can improve tracking accuracy obviously.