Title :
Aspects of controlling a multifingered gripper
Author :
Doersam, Th ; Fischer, Th
Author_Institution :
Dept. of Comput. Sci., Karlsruhe Univ., Germany
Abstract :
Controlling multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. The nonlinear friction, the impact problem and other plant uncertainties require a special kind of control and tuning of the controller. Some simple linear and nonlinear controllers for the Karlsruhe Dexterous Hand are presented and the results and advantages of the controllers are shown. Also, a new adaptive fuzzy controller is presented to overcome the time consuming process of fine-tuning the membership functions. Finally, a short glance at the hardware platform is taken in order to show the control system architecture
Keywords :
force control; friction; fuzzy control; manipulators; nonlinear control systems; position control; Karlsruhe Dexterous Hand; PID; adaptive fuzzy controller; control algorithms; control computer; control system architecture; fine-tuning; force control; grasp force adaptation; grasp planning; hardware platform; impact problem; membership functions; multifingered gripper; multifingered robot hands; nonlinear controllers; nonlinear friction; plant uncertainties; position control; Computer science; Control systems; Force control; Force measurement; Friction; Fuzzy control; Grippers; Programmable control; Real time systems; Robot control;
Conference_Titel :
Knowledge-Based Intelligent Electronic Systems, 1997. KES '97. Proceedings., 1997 First International Conference on
Conference_Location :
Adelaide, SA
Print_ISBN :
0-7803-3755-7
DOI :
10.1109/KES.1997.616902
