The adaptive neural network sliding mode control for angle/force tracking of the dexterous hand | |
Qin, Xing2,3; Shi, Heng1,2; Gao, Xin1; Li, Xiyu1 | |
刊名 | ADVANCES IN MECHANICAL ENGINEERING |
2021-08 | |
卷号 | 13期号:8 |
关键词 | Dexterous hand Udwadia-Kalaba equation dynamic model the non-ideal constrained force adaptive neural network sliding mode control |
ISSN号 | 1687-8132;1687-8140 |
DOI | 10.1177/16878140211038096 |
产权排序 | 1 |
英文摘要 | In order to achieve high precision control of the dexterous hand, an adaptive neural network sliding mode control algorithm based on the U-K (Udwadia-Kalaba) equation is proposed. Firstly, based on the U-K equation and considering the ideal and non-ideal constrained force at each link of the dexterous hand, the detailed dynamic equation is derived. Secondly, considering the uncertainty of the non-ideal constrained force (mainly the friction force on each link of the dexterous hand) and the chattering phenomenon when using sliding mode control alone, the adaptive neural network and the sliding mode control algorithm are combined to realize the high-precision tracking and estimation of each link angle trajectory and the non-ideal constrained force. Finally, in order to verify the correctness and rationality of the proposed algorithm, the 3-DOF spatial dexterous hand is taken as the simulated object. The simulation results show that the tracking and estimation errors of each link angle and the non-ideal constrained force are 10(-2) order of magnitude. |
语种 | 英语 |
出版者 | SAGE PUBLICATIONS LTD |
WOS记录号 | WOS:000698296300001 |
内容类型 | 期刊论文 |
源URL | [http://ir.opt.ac.cn/handle/181661/95075] |
专题 | 西安光学精密机械研究所_光电测量技术实验室 |
通讯作者 | Gao, Xin |
作者单位 | 1.Beijing Inst Tracking & Telecommun Technol, 26 Beiqing Rd, Beijing 100094, Peoples R China 2.Chinese Acad Sci, Xian Inst Opt & Precis Mech, Xian, Peoples R China 3.Univ Chinese Acad Sci, Beijing, Peoples R China |
推荐引用方式 GB/T 7714 | Qin, Xing,Shi, Heng,Gao, Xin,et al. The adaptive neural network sliding mode control for angle/force tracking of the dexterous hand[J]. ADVANCES IN MECHANICAL ENGINEERING,2021,13(8). |
APA | Qin, Xing,Shi, Heng,Gao, Xin,&Li, Xiyu.(2021).The adaptive neural network sliding mode control for angle/force tracking of the dexterous hand.ADVANCES IN MECHANICAL ENGINEERING,13(8). |
MLA | Qin, Xing,et al."The adaptive neural network sliding mode control for angle/force tracking of the dexterous hand".ADVANCES IN MECHANICAL ENGINEERING 13.8(2021). |
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