多指手爪非线性分析及其位置离散学习控制

Nonlinear Analysis and Discrete Learning Position Control for a Multifingered Hand

本文通过分析机器人多指手爪的静摩擦、库伦摩擦、粘性摩擦等非线性因素，推导出多指手爪屈伸关节的动态控制模型；针对多指手爪的非线性影响，提出了一种位置离散学习控制方法，并给出了这种方法的收敛性定理。仿真结果表明，离散学习控制方法能在有限次迭代后使手指关节位置达到期望位置。

Based on nonlinear factors analysis of static friction,Coulomb friction,viscous friction etc.for a multifingered robot hand,the dynamic control model of a flexion-extension joint is derivied.To overcome the nonlinear effects,the discrete learning control strategy is presented.The convergence theorem is also given.The simulation result shows that it can make finger joint position reach desired position after finite times iteration.