The Letter proposes an online tuned adaptive inverse 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 adaptive inverse 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 adaptive inverse controlalgorithm, which includes an adaptive inverse model and an adaptive inverse control, is designed. The online tuned adaptive inverse controlalgorithm has better performance than the proportional-integralcontrolalgorithm 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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