Open AccessDesign and implementation of adaptive inverse control algorithm for a micro‐hand control system
Author(s) -
Wang WanCheng,
Liu TianHua,
Syaifudin Yuddy,
Wang TsanKai
Publication year - 2014
Publication title -
the journal of engineering
Language(s) - English
Resource type - Journals
ISSN - 2051-3305
DOI - 10.1049/joe.2013.0218
Subject(s) - inverse , control theory (sociology) , computer science , position (finance) , adaptive control , process (computing) , inverse kinematics , rotor (electric) , algorithm , control engineering , control (management) , engineering , artificial intelligence , mathematics , robot , mechanical engineering , geometry , finance , economics , operating system
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.