DocumentCode
3350506
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
fYear
2010
fDate
26-28 June 2010
Firstpage
2695
Lastpage
2698
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechanic Automation and Control Engineering (MACE), 2010 International Conference on
Conference_Location
Wuhan
Print_ISBN
978-1-4244-7737-1
Type
conf
DOI
10.1109/MACE.2010.5535681
Filename
5535681
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