Intelligent Control of Multi-fingered Robot Hand

Yuan Kui Yu Che Guo Feng Yuan Xingjun Information Engineering School, UST Beijing, Beijing 100083, China

摘 要：The dynamics properties of a kind of multi-fingered robot hand is analyzed. It is pointed out that the dynamics property of this kind of multifingered robot hand in the approaching process is quite different from that in the grasping process and,different control algorithm should be taken in the two process. A position-force hybrid control algorithm is proposed which is applied to the control system of the University of Science and Technology Beijing double-thumb robot hand successfully.

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