Nonlinear Analysis and Discrete Learning Position Control for a Multifingered Hand

Wang Congqing; Yuan Kui; Yu Datai

doi:10.13374/j.issn1001-053x.1994.06.016

Volume 16 Issue 6

Nov. 2021

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Article Navigation > Chinese Journal of Engineering > 1994 > 16(6): 581-585,598

Wang Congqing, Yuan Kui, Yu Datai. Nonlinear Analysis and Discrete Learning Position Control for a Multifingered Hand[J]. Chinese Journal of Engineering, 1994, 16(6): 581-585,598. doi: 10.13374/j.issn1001-053x.1994.06.016

Citation:

Wang Congqing, Yuan Kui, Yu Datai. Nonlinear Analysis and Discrete Learning Position Control for a Multifingered Hand[J]. Chinese Journal of Engineering, 1994, 16(6): 581-585,598. doi: 10.13374/j.issn1001-053x.1994.06.016

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Nonlinear Analysis and Discrete Learning Position Control for a Multifingered Hand

doi: 10.13374/j.issn1001-053x.1994.06.016

Robotics Research Institute, USTB, Beijing 100083, PRC

Received Date: 1993-12-30
Available Online: 2021-11-13

Abstract

Abstract

Based on nonlinear factors analysis of static friction,Coulomb friction,viscous friction etc.for a multifingered robot hand,the dynamic control model of a flexion-extension joint is derivied.To overcome the nonlinear effects,the discrete learning control strategy is presented.The convergence theorem is also given.The simulation result shows that it can make finger joint position reach desired position after finite times iteration.
- nonlinear/multifingered hand,
- discrete learning