Title :
Application on the sliding mode VSC on the position for a dual-thumbed hand
Author :
Hongcai, Zhao ; Aixian, Pan
Author_Institution :
Sch. of Autom. Eng., Qingdao Technol. Univ., Qingdao, China
Abstract :
To realize higher accuracy control for the robot finger position, the sliding mode variable structure Control (VSC) technique is selected. The state equations of a single finger joint are presented based on dynamic model. Sliding mode VSC scheme is also determined. The method of alleviation chattering is discussed. The more satisfactory results are obtained on position of the dual-thumbed hand.
Keywords :
control nonlinearities; dexterous manipulators; variable structure systems; alleviation chattering method; dual-thumbed hand; robot finger position; sliding mode variable structure control technique; Automatic control; Control systems; DC motors; Equations; Fingers; Friction; Robotics and automation; Service robots; Servomechanisms; Sliding mode control; alleviation chattering; dual-thumbed hand; robot; sliding mode variable structure control;
Conference_Titel :
Mechanic Automation and Control Engineering (MACE), 2010 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-7737-1
DOI :
10.1109/MACE.2010.5535681
