Synchronization Coordination Control Of Dexterous Hand Based On Iterative Learning Algorithm

The modern industry is developing rapidly and in some particular environment or field,the traditional industrial robot end device has some drawbacks, such as poor flexibilityand difficult to control precisely, which is difficult to meet the demand of precisionoperation and accuracy control in some industrial applications. But based on thedevelopment of modern bionics, the dexterous robot hand has many excellentcharacteristics, such as universality, various perception, flexible movement, precisionoperation and so on. And it can imitate the movement of a man’s hand from the structureand function and can improve the level of robot intelligence and task operation to a greatextent. In medical applications, the dexterous hand designed specifically for the humanbody is not just a simple medical auxiliary tool, but a part of the human body which canrealize the flexible movement and grasp operation like the natural hand. The research ofthe dexterous hand has a decisive significance on the development of smart prosthetics.This thesis takes the dexterous hand as research object and some works aboutcoordination control of the dexterous hand are done. The main work includes:The development and the research states of the dexterous hand are introduced andsome typical dexterous hands are illustrated. In addition, the research status of the controlof the dexterous hand is reviewed and the characteristics and significances of thesynchronization control and iterative learning control are emphatically introduced. Andthe significance of research in this thesis is presented. A multiple fingers and jointstheory model of the dexterous bionic hand is established according to the humanphysiological structure and bionics theory. Its dynamic equation is obtained and thevarious parameters of the system are calculated by using screw theory. Based on theprinciple of the synchronization control and the iterative learning control theory, thedexterous hand system controller was designed and the synchronization coordinate control is realized. Lyapunov composite energy function method is introduced to analyzethe stability of the dexterous hand system under the synchronization coordinate controlbased on iterative learning algorithm. The control scheme is proved theoretically. Anexperimental simulation is made by using the Matlab software, the feasibility of controlscheme of the dexterous hand system is verified through the simulation curves andperformance comparing.The research of this thesis can solve the synchronization control problem of dexteroushand and provide an important reference value for the coordinate control of the dexteroushand. The researches of iterative learning control and synchronization control areenriched. There are strong practical background and theoretical significance in theresearch of this thesis.