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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 robot dexterous hand control system.
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Related In: Results  -  Collection


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fig2: The robot dexterous hand control system.

Mentions: The hierarchical control strategy adopted by the dexterous hand control system takes perfect purpose in practice. Feedback data glove or personal computer as the upper microcomputer communicates with bottom-level block through serial communication interface (SCI). The top-level block is responsible for the signal processing of upper microcomputer and the communicating with bottom-level block. The bottom-level block consists of DSP-CPLD servo controller, SCI circuit, motor driver, and so forth, and it is responsible for the signal processing of torque sensors, position sensors, and magnetoelectric encoders. Moreover, it is responsible for controlling the pulses and directing signals to drive servo motors. The dexterous hand control system can be shown as in Figure 2.


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 robot dexterous hand control system.
© Copyright Policy - open-access
Related In: Results  -  Collection

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

fig2: The robot dexterous hand control system.
Mentions: The hierarchical control strategy adopted by the dexterous hand control system takes perfect purpose in practice. Feedback data glove or personal computer as the upper microcomputer communicates with bottom-level block through serial communication interface (SCI). The top-level block is responsible for the signal processing of upper microcomputer and the communicating with bottom-level block. The bottom-level block consists of DSP-CPLD servo controller, SCI circuit, motor driver, and so forth, and it is responsible for the signal processing of torque sensors, position sensors, and magnetoelectric encoders. Moreover, it is responsible for controlling the pulses and directing signals to drive servo motors. The dexterous hand control system can be shown as in Figure 2.

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