何平, 金明河, 刘宏, 谢宗武. 机器人多指灵巧手基关节力矩/位置控制系统的研究[J]. 机器人, 2002, 24(4): 314-318,328..
HE Ping, JIN Ming-he, LIU Hong, XIE Zong-wu. STUDY OF POSITION AND TORQUE FEEDBACK CONTROL SYSTEMOF MULTI-FINGERED DEXTEROUS ROBOT HAND. ROBOT, 2002, 24(4): 314-318,328..
Abstract：There was more research on single DOF of single finger than on the basejoint that has two DOFs. This paper gives a brief description of HIT-1 hand,a multi-fingered dexterous hand,and simply analyzes the base joint's kinematics and dynamics model. Then the position and torque feedback control system is constructed based on the model analysis. The traditional PID algorithm has been employed to complete both position control in free space and torque control in constrained environment,and some experimental results has been analyzed.
 H Liu,P Meusel.DlR's Multisensory Articulated Hand Part Ⅱ:The Parallel Torque/Position Control System.Proceedings of the 1998 IEEE International Conference on Robotics &Automation.May 1998  C S Lovchik,M A Diftler.The Robonaut Hand:A Dexterous Robot Hand For Space.Proceedings of the 1999 IEEE International Conference on Robotics &Automation,May 1999  陈哲.现代控制理论.冶金出版社,1987:10-41