The Letter proposes an online tuned adaptiveinverse position controlalgorithm for a micro-hand. First, the configuration of the micro-hand is discussed. Next, a kinematic analysis of the micro-hand is investigated a...
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The Letter proposes an online tuned adaptiveinverse position controlalgorithm for a micro-hand. First, the configuration of the micro-hand is discussed. Next, a kinematic analysis of the micro-hand is investigated and then the relationship between the rotor position of micro-permanent magnet synchronous motor and the tip of the micro-finger is derived. After that, an online tuned adaptiveinversecontrolalgorithm, which includes an adaptiveinverse model and an adaptiveinversecontrol, is designed. The online tuned adaptiveinversecontrolalgorithm has better performance than the proportional-integral controlalgorithm does. In addition, to avoid damaging the object during the grasping process, an online force controlalgorithm is proposed here as well. An embedded micro-computer, cRIO-9024, is used to realise the whole position controlalgorithm and the force controlalgorithm by using software. As a result, the hardware circuit is very simple. Experimental results show that the proposed system can provide fast transient responses, good load disturbance responses, good tracking responses and satisfactory grasping responses.
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