Control system for DLR/HIT II dexterous robot hand and synchronized control for base joint

A DSP & FPGA-based multilevel control system was developed for multi-sensory and multi-DOF dexterous robot hand, in which the drive, control and sensor systems were integrated in the finger. So the five-finger DLR/HIT II dexterous robot hand that resembled the human hand regarding size and movability was realized. A synchronized cross-coupled controller for base joint of dexterous robot hand was designed, including feedforwards of velocity and acceleration, feedbacks of synchronous errors and position errors, and a smooth robust nonlinear feedback compensator. The controller did not require the explicit use of the system dynamic model. Compared with conventional non-synchronized PD friction compensation and trajectory tracking control, experimental results demonstrate the validity of the designed control system and synchronized cross-coupled controller.