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Development of a GA-fuzzy-immune PID controller with incomplete derivation for robot dexterous hand.

Liu XH, Chen XH, Zheng XH, Li SP, Wang ZB - ScientificWorldJournal (2014)

Bottom Line: The control system of a robot dexterous hand and mathematical model of an index finger were presented.Moreover, immune mechanism was applied to the controller design and an improved approach through integration of GA and fuzzy inference was proposed to realize parameters' optimization.Finally, a simulation example was provided and the designed controller was proved ideal.

View Article: PubMed Central - PubMed

Affiliation: School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China ; Xuyi Mine Equipment and Materials R&D Center, China University of Mining and Technology, Huai'an 211700, China.

ABSTRACT
In order to improve the performance of robot dexterous hand, a controller based on GA-fuzzy-immune PID was designed. The control system of a robot dexterous hand and mathematical model of an index finger were presented. Moreover, immune mechanism was applied to the controller design and an improved approach through integration of GA and fuzzy inference was proposed to realize parameters' optimization. Finally, a simulation example was provided and the designed controller was proved ideal.

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The control circuit board of robot dexterous hand and the index finger.
© Copyright Policy - open-access
Related In: Results  -  Collection


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fig1: The control circuit board of robot dexterous hand and the index finger.

Mentions: A dexterous hand (named after ABS-I) has been developed in our laboratory, which is made by the reinforced acrylonitrile butadiene styrene copolymers (ABS) in a 3D printer. It is composed of DC servo motors, cup-type planetary gear reducers, sensors, IE2-400 encoders, complicated programmable logic device (CPLD), and digital signal processor (DSP) unit. Figure 1 shows the control circuit board of robot dexterous hand and the index finger.


Development of a GA-fuzzy-immune PID controller with incomplete derivation for robot dexterous hand.

Liu XH, Chen XH, Zheng XH, Li SP, Wang ZB - ScientificWorldJournal (2014)

The control circuit board of robot dexterous hand and the index finger.
© Copyright Policy - open-access
Related In: Results  -  Collection

Show All Figures
getmorefigures.php?uid=PMC4109120&req=5

fig1: The control circuit board of robot dexterous hand and the index finger.
Mentions: A dexterous hand (named after ABS-I) has been developed in our laboratory, which is made by the reinforced acrylonitrile butadiene styrene copolymers (ABS) in a 3D printer. It is composed of DC servo motors, cup-type planetary gear reducers, sensors, IE2-400 encoders, complicated programmable logic device (CPLD), and digital signal processor (DSP) unit. Figure 1 shows the control circuit board of robot dexterous hand and the index finger.

Bottom Line: The control system of a robot dexterous hand and mathematical model of an index finger were presented.Moreover, immune mechanism was applied to the controller design and an improved approach through integration of GA and fuzzy inference was proposed to realize parameters' optimization.Finally, a simulation example was provided and the designed controller was proved ideal.

View Article: PubMed Central - PubMed

Affiliation: School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China ; Xuyi Mine Equipment and Materials R&D Center, China University of Mining and Technology, Huai'an 211700, China.

ABSTRACT
In order to improve the performance of robot dexterous hand, a controller based on GA-fuzzy-immune PID was designed. The control system of a robot dexterous hand and mathematical model of an index finger were presented. Moreover, immune mechanism was applied to the controller design and an improved approach through integration of GA and fuzzy inference was proposed to realize parameters' optimization. Finally, a simulation example was provided and the designed controller was proved ideal.

Show MeSH