Title :
Sliding mode control on the position for a multifingered hand
Author :
Hongcai, Zhao ; Lan, Li
Author_Institution :
Sch. of Autom. Eng., Qingdao Technol. Univ., Qingdao, China
Abstract :
This paper deals with the application of the sliding mode control technique on the position servo system for a multifingered hand. The configuration of the hand system is described. The state equations of a single finger joint are presented based on dynamic model. Sliding mode controller was also determined. The method of alleviation chattering is discussed. The more satisfactory results are obtained on position of the multifingered hand.
Keywords :
dexterous manipulators; position control; servomechanisms; variable structure systems; alleviation chattering; multifingered hand; position servo system; single finger joint; sliding mode control; state equation; DC motors; Equations; Fingers; Joints; Sliding mode control; Torque; alleviation chattering; multifingered hand; robot; sliding mode control;
Conference_Titel :
Computer Science and Education (ICCSE), 2010 5th International Conference on
Conference_Location :
Hefei
Print_ISBN :
978-1-4244-6002-1
DOI :
10.1109/ICCSE.2010.5593727
