Synchronized Cross-coupled Control for Base Joint of Dexterous Robot Hand
LAN Tian1,2, LIU Yiwei1, CHEN Yangbin2, JIN Minghe1, JIANG Li1, FAN Shaowei1, LIU Hong1,3
1. State Key Laboratory of Robotics and System (HIT), Harbin 150001, China; 2. Ningbo GQY Video & Telecom Stock Joint Co., Ltd, Shanghai 201206, China; 3. Institute of Robotics and System Dynamics, German Aerospace Center, Germany
兰天, 刘伊威, 陈养彬, 金明河, 姜力, 樊绍巍, 刘宏. 机器人灵巧手基关节交叉耦合同步控制[J]. 机器人, 2010, 32(2): 150-156,165..
LAN Tian, LIU Yiwei, CHEN Yangbin, JIN Minghe, JIANG Li, FAN Shaowei, LIU Hong. Synchronized Cross-coupled Control for Base Joint of Dexterous Robot Hand. ROBOT, 2010, 32(2): 150-156,165..
Abstract：A synchronized cross-coupled control approach is presented to improve trajectory tracking accuracy for base joint of dexterous robot hand, including feedbacks of synchronous errors and position errors, and a smooth robust nonlinear feedback compensator. The dynamics model of the robot is also established. According to Lyapunov stability analysis, it is proved that the proposed method can guarantee both synchronization and position errors converge to zero and the system is asymptotically stable. The proposed control strategy is compared with conventional non-synchronized PD friction compensation and trajectory tracking control, and experimental results demonstrate its validity.
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