Synchronization control of multi-finger dexterous hand based on iterative learning control scheme

Author

Lei Chen ; Ming-Feng Ge ; Ding-Xin He ; Zhi-Hong Guan ; Yan-Wu Wang

Author_Institution

Coll. of Autom., Huazhong Univ. of Sci. & Technol., Wuhan, China

fYear

2014

fDate

May 31 2014-June 2 2014

Firstpage

1162

Lastpage

1166

Abstract

In this paper, aiming at solving the synchronous problem of multi-finger dexterous hand, we introduced the iterative learning control (ILC) algorithm into the control of the system´s synchronous coupling error to ensure the synchronization between finger joints on the premise that the system have good performance. In addition, we introduce a Lyapunov-like composite energy function to analyse the stability of the system with the ILC controller. Finally a simulation is conducted to show the performance and verify that the system could achieve stability.

Keywords

Lyapunov methods; dexterous manipulators; iterative methods; learning systems; stability; synchronisation; ILC; Lyapunov-like composite energy function; finger joints; iterative learning control scheme; multifinger dexterous hand; synchronization control; synchronous coupling error; system stability; Control systems; Couplings; Joints; Robot kinematics; Stability analysis; Synchronization; Iterative Learning Control; Lyapunov-like Function; Multi-finger; Stability; Synchronization;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (2014 CCDC), The 26th Chinese

Conference_Location

Changsha

Print_ISBN

978-1-4799-3707-3

Type

conf

DOI

10.1109/CCDC.2014.6852341

Filename

6852341