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Abstract: A reference-time-controllable control method for
multi-fingered dexterous hand coordination is introduced. It can handle
unexpected or uncertain event, as the reference time is controlled
through estimating error of the system and desired output can be
adjusted based on the running state of the system. Kinematics and
dynamics controllers are designed employing this new approach. The
object can be controlled to move along desired path and keep grasping
configuration of fingers to the greatest extent at the cost of time when
the object is obstructed or disturbed. Thus the grasping stability can
be maintained and the damage of the object or the system can be avoided.
Simulation and experiment illustrate the effectiveness of the method.
Key words: Multi-fingered dexterous hand Multi-fingered
coordination Reference-time-controllable Control method
CLC No: TP241
航天863计划资助项目(863-2-512). Received 20030103, received in revised form
20030809
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