On set-point tracking control of dexterous robot hand

A model-free set-point tracking control approach of multi-fingered robot hand is presented.The set-point tracking controller,which has the structural form of PD controller,is composed with a combination of feedforward term,feedback term and saturation control term.The controller does not require the explicit use of dynamic modeling parameters.Experiments performed on the HIT/DLR hand demonstrate the effectiveness of the proposed approach in performance improvement and real-time application.     

OPTIMIZATION METHOD FOR VIRTUAL PRODUCT DEVELOPMENT BASED ON SIMULATION METAMODEL AND ITS APPLICATION

Virtual product development (VPD) is essentially based on simulation. Due to computation-al inefficiency traditional engineering simulation software and optimization methods are inadequate toanalyze optimization problems in VPD. Optimization method based on simulation metamodel forvirtual product development is proposed to satisfy the needs of complex optimal designs driven byVPD. This method extends the current design of experiments (DOE) by various metamodeling tech-