Design and implementation of adaptive inverse control algorithm for a micro-hand control system

The Journal of Engineering

Yuddy Syaifudin¹  Wan-Cheng Wang¹  Tian-Hua Liu¹  Tsan-Kai Wang¹ 

[1] Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan

关键词: grasping process;    rotor position;    proportional–integral control algorithm;    online tuned adaptive inverse position control algorithm;    micropermanent magnet synchronous motor;    embedded microcomputer;    microh;    control system;    microh;    configuration;    hardware circuit;    transient responses;    microfinger tip;    adaptive inverse model;    adaptive inverse control algorithm design;    online force control algorithm;    cRIO-9024;    grasping response;    kinematic analysis;    load disturbance response;    tracking response;   

DOI  :  10.1049/joe.2013.0218

学科分类：工程和技术（综合）

来源: IET

【 摘 要 】

The Letter proposes an online tuned adaptive inverse position control algorithm for a micro-hand. First, the configuration of the micro-hand is discussed. Next, a kinematic analysis of the micro-hand is investigated and then the relationship between the rotor position of micro-permanent magnet synchronous motor and the tip of the micro-finger is derived. After that, an online tuned adaptive inverse control algorithm, which includes an adaptive inverse model and an adaptive inverse control, is designed. The online tuned adaptive inverse control algorithm has better performance than the proportional–integral control algorithm does. In addition, to avoid damaging the object during the grasping process, an online force control algorithm is proposed here as well. An embedded micro-computer, cRIO-9024, is used to realise the whole position control algorithm and the force control algorithm by using software. As a result, the hardware circuit is very simple. Experimental results show that the proposed system can provide fast transient responses, good load disturbance responses, good tracking responses and satisfactory grasping responses.

【 授权许可】

CC BY