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Dexterous finger adaptive sliding mode tracking control method based on TDE

An adaptive sliding mode and tracking control technology, which is applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of estimation error and control performance degradation, so as to reduce TDE error, improve accuracy, improve tracking performance and convergence performance effect

Pending Publication Date: 2022-02-18
NANJING UNIV OF POSTS & TELECOMM
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  • Application Information

AI Technical Summary

Problems solved by technology

As the core component of time-delay control, time-delay estimation can obtain the dynamic model of the system, but when time-delay estimation is used, especially when fast time-varying dynamics occurs, estimation errors will occur, which will largely affect the leading to a decrease in control performance

Method used

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  • Dexterous finger adaptive sliding mode tracking control method based on TDE
  • Dexterous finger adaptive sliding mode tracking control method based on TDE
  • Dexterous finger adaptive sliding mode tracking control method based on TDE

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Embodiment Construction

[0067] The present invention is described in further detail now in conjunction with accompanying drawing. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, so they only show the configurations related to the present invention.

[0068] In the description of the present invention, it should be understood that the orientations or positional relationships indicated by the terms "left side", "right side", "upper", "lower" are based on the orientations or positional relationships shown in the accompanying drawings, and are only For the purpose of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, "first", "second" and the like do not represent components importance, and therefore should not be construed as limiting ...

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Abstract

The invention belongs to the technical field of robot control, and particularly relates to a TDE-based dexterous finger adaptive sliding mode tracking control method, which comprises the steps that: n joint torques and m tendon tensions are acquired, wherein m is greater than n; a tendon-driven dexterous finger dynamic equation is established through conversion of a mapping matrix R, and a complex dynamic model is estimated through a time delay estimation (TDE) method. By designing a non-singular fast terminal sliding mode surface, convergence in finite time is realized, the problem that only progressive convergence can be realized in traditional sliding mode control is solved, and the tracking performance and convergence performance are improved. In order to further improve the performance of non-singular terminal sliding mode control, PID integral control is combined, PID-NFTSM control and an adaptive combination reaching law are designed, the provided control method is continuous and free of singularity, TDE errors are reduced, and meanwhile the precision of tracking control is improved.

Description

technical field [0001] The invention belongs to the technical field of robot control, and in particular relates to a TDE-based self-adaptive sliding mode tracking control method for dexterous fingers. Background technique [0002] In recent years, the multi-fingered dexterous hand has become the development direction of the robot end effector. It is an intelligent general-purpose manipulator researched and developed to complete multi-tasks, and can be used in various environments to replace humans to perform tasks. For example: In space, underwater and nuclear radiation environments, humans can effectively engage in scientific research, production and other activities with the help of robots. These robots are faced with a variety of operating objects and tasks, and simple grippers cannot meet the requirements. [0003] The manipulator is an automatic machine that imitates the specific functions of the hand and arm, so it generally refers to multi-joint multi-link operating ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1679Y02T90/00
Inventor 王邢波陆闯张岩
Owner NANJING UNIV OF POSTS & TELECOMM
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