Research on Force-Position Hybrid Control Method for Dexterous Hand
摘要
In this paper, a force-position hybrid control method for dexterous hands is investigated by designing a conductivity controller to fuse the data from position sensors and haptic sensors to generate an additional position to correct the predefined position trajectory. The conductivity controller is integrated into the force-position hybrid control loop to ensure the desired positional accuracy while also being able to exert or withstand external forces to achieve compliance control of the dexterous hand so that the dexterous hand can better adapt to different operating tasks and environments.