Intelligent Control of Multi-fingered Robot Hand

Yuan Kui; Yu Che; Guo Feng; Yuan Xingjun

doi:10.13374/j.issn1001-053x.1998.02.042

Volume 20 Issue 2

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Article Navigation > Chinese Journal of Engineering > 1998 > 20(2): 183-187

Yuan Kui, Yu Che, Guo Feng, Yuan Xingjun. Intelligent Control of Multi-fingered Robot Hand[J]. Chinese Journal of Engineering, 1998, 20(2): 183-187. doi: 10.13374/j.issn1001-053x.1998.02.042

Citation:

Yuan Kui, Yu Che, Guo Feng, Yuan Xingjun. Intelligent Control of Multi-fingered Robot Hand[J]. Chinese Journal of Engineering, 1998, 20(2): 183-187. doi: 10.13374/j.issn1001-053x.1998.02.042

Yuan Kui, Yu Che, Guo Feng, Yuan Xingjun. Intelligent Control of Multi-fingered Robot Hand[J]. Chinese Journal of Engineering, 1998, 20(2): 183-187. doi: 10.13374/j.issn1001-053x.1998.02.042

Citation:

Yuan Kui, Yu Che, Guo Feng, Yuan Xingjun. Intelligent Control of Multi-fingered Robot Hand[J]. Chinese Journal of Engineering, 1998, 20(2): 183-187. doi: 10.13374/j.issn1001-053x.1998.02.042

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Intelligent Control of Multi-fingered Robot Hand

doi: 10.13374/j.issn1001-053x.1998.02.042

Information Engineering School, UST Beijing, Beijing 100083, China

Received Date: 1997-03-25
Available Online: 2021-08-27

Abstract

Abstract

The dynamics properties of a kind of multi-fingered robot hand is analyzed.It is pointed out that the dynamics property of this kind of multi-fingered robot hand in the approaching process is quite different from that in the grasping process and, different control algorithm should be taken in the two process. A position-force hybrid control algo-rithm is proposed which is applied to the control system of the University of Science and Technology Beijing double-thumb robot hand successfully.
- multi-fingered robot hand,
- control system,
- position-force hybrid control