Aspects of controlling a multifingered gripper
Controlling multifingered robot hands puts high demands on the control algorithms and the speed of the control computer. Mainly non-linear friction, the impact problem and other plant uncertainties require a special kind of control and tuning of the controller. In this paper, simple linear and non-linear controllers for the Karlsruhe Dextrous 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 overview of the hardware platform is given, in order to show the control-system architecture.
multifingered grippers fuzzy control control-system design