Disturbance Observer Based Modeling of Dexterous Finger High-Order Fully Actuated

This article investigates a high-order fully actuated mechanical model for dexterous fingers based on interference observers, whose disturbances include input disturbances with unknown parameters and external disturbances. To address the problem of trajectory tracking anti-jamming control of a dexterous finger with full-drive humanoid, the dynamics model of the dexterous finger is firstly established by the Lagrangian method; then a nonlinear disturbance observer is designed to effectively compensate for the disturbance; finally, a high-order full-drive error dynamics model of the dexterous finger based on the disturbance observer is established. An accurate modeling basis is provided for the design of the subsequent higher-order fully driven anti-interference controller.