Hybrid control strategies for a five-finger robotic hand |
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Authors: | Cheng-Hung Chen D Subbaram Naidu |
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Institution: | Measurement and Control Engineering Research Center, School of Engineering, Idaho State University, 921 South 8th Avenue, Stop 8060, Pocatello, ID 83209, USA |
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Abstract: | This paper presents a hybrid controller of soft control techniques, adaptive neuro-fuzzy inference system (ANFIS) and fuzzy logic (FL), and hard control technique, proportional-derivative (PD), for a five-finger robotic hand with 14-degrees-of-freedom (DoF). The ANFIS is used for inverse kinematics of three-link fingers and FL is used for tuning the PD parameters with 2 input layers (error and error rate) using 7 triangular membership functions and 49 fuzzy logic rules. Simulation results with the hybrid of FL-tuned PD controller exhibit superior performance compared to PD, PID and FL controllers alone. |
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