Research on grasp control of smart hand optimization using fuzzy PID controller based on PSO algorithm
With the increasing importance of bionics,the five-finger dexterous hand has become a crucial executive mechanism in the field of robotics.However,during the grasping process,the five-finger dexterous hand often encounters challenges such as complex internal actions,slow speed,and low efficiency.In order to overcome these issues,this paper proposes a fuzzy adaptive control algorithm based on angle closed-loop.The algorithm utilizes fuzzy logic to infer the relationship between the angle devia-tion of the dexterous hand joint and the controller parameters,and formulates corresponding fuzzy rules.By adjusting the controller parameters in real time,the algorithm improves the stability and capture effi-ciency of the system.Additionally,the visualization of the experimental process is enhanced by establis-hing an ADAMS model and a corresponding closed-loop control system.Experimental results demon-strate that optimizing the fuzzy adaptive PID algorithm and improving the system parameters of the Particle Swarm Optimization algorithm can significantly reduce joint jitter during the grasping process of dexterous hands,while also exhibiting superior fingertip contact force control performance.
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