DocumentCode
2454170
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
fYear
2010
fDate
24-27 Aug. 2010
Firstpage
1287
Lastpage
1290
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Computer Science and Education (ICCSE), 2010 5th International Conference on
Conference_Location
Hefei
Print_ISBN
978-1-4244-6002-1
Type
conf
DOI
10.1109/ICCSE.2010.5593727
Filename
5593727
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