多指手位置伺服滑模控制及抑制抖动实用性研究

Practicability Research on Sliding Model Control and Chattering Restraint for position Servo system of Multifingered Manipalator

针对多指机械手这种强耦合、非线性时变系统，进行了位置伺服控制方法的实用性研究，给出了滑模变结构控制器及抑制抖动的措施，经实验结果证明，所介绍的方法可行，取得了满意效果。

This paper introduces practicability researh on position servo control approach, structure - changeablecontroller and measures against chattering, in accordance with the strong coupling and nonlinear time - varied-system of multifingered manipulator. The test shows, the approach is applicable and well effective.