多指灵巧手双闭环模糊控制

设计一种双位置闭环模糊控制器，用于多指灵巧手的位置控制。利用电机码盘反馈构成内位置环控制，采用一般的PID控制律；通过关节位置反馈形成外位置环控制，采用模糊控制算法。这种两层位置反馈控制可弥补只有码盘反馈的半闭环控制结构的不足，使具有强非线性的钢缆传动系统包含在闭环内，从而提高系统的稳定性和鲁棒性。实验证明跟踪精度明显提高。

Double Closed Loop Fuzzy Control for Multi-fingered Dexterous Hand

A double closed loop fuzzy control scheme for multi fingered dexterous hand is presented. In the inner closed loop, general PID control method based on encoder feedback of motor is adopted, and in the outer closed loop, a new fuzzy control based on position feedback of joint is adopted. The control scheme consist of two layer position feedback covering nonlinear hawser drive system can supply a gap of half closed loop structure with only encoder feedback so can improve stability and robustness of control system. Experiment expose that the control scheme can improve greatly tracking accuracy.