MODELLING AND CONTROL OF MULTI-FINGERED ROBOT HAND USING INTELLIGENT TECHNIQUES

Research and development of robust multi-fingered robot hand (MFRH) have been going on for more than three decades. Yet few can be found in an industrial application. The difficulties stem from many factors, one of which is that the lack of general and effective control techniques for the manipulation of robot hand.
In this research, a MFRH with five fingers has been proposed with intelligent control algorithms. Initially, mathematical modeling for the proposed MFRH has been derived to find the Forward Kinematic, Inverse Kinematic, Jacobian, Dynamics and the plant model. Thereafter, simulation of the MFRH using PID controller, Fuzzy Logic Controller, Fuzzy-PID controller and PID-PSO controller has been carried out to gauge the system performance based parameters such rise time, settling time and percent overshoot.