On set-point tracking control of dexterous robot hand

A model-free set-point tracking control approach of muhi-fingered robot hand is presented.The setpoint 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 cxplicit 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.