@inproceedings{88deb01e0ffd45e4ba4ab8c8d9694396,
title = "Feedback control for Underactuated Trussed Robot Finger",
abstract = "Underactuated Trussed Robot Finger is a newly proposed underactuated robot. Based on its physical structure, dynamic model is established by using the Lagrange mechanics method. Moreover, the nonlinear system's properties are analyzed, including non-integrity and stablizability. Besides, the control goal is considered as being stabilized in the vertical equilibrium point. To achieve this goal, feedback control law is proposed by using pole placement method. Then simulation is conducted in MATLAB/Simulink environment. Simulation results indicate that the feedback control rule can effectively realize the goal of stabilizing the robot finger in the vertical equilibrium point. It can satisfy that the designed control rules are correct and effective, and the system has anti-interference ability.",
keywords = "deformable trusses, feedback control, nonlinear system, underactuated robot",
author = "Shuchen Ding and Hongqian Lu and Xianlin Huang",
note = "Publisher Copyright: {\textcopyright} 2014 TCCT, CAA.; Proceedings of the 33rd Chinese Control Conference, CCC 2014 ; Conference date: 28-07-2014 Through 30-07-2014",
year = "2014",
month = sep,
day = "11",
doi = "10.1109/ChiCC.2014.6896913",
language = "英语",
series = "Proceedings of the 33rd Chinese Control Conference, CCC 2014",
publisher = "IEEE Computer Society",
pages = "1862--1867",
editor = "Shengyuan Xu and Qianchuan Zhao",
booktitle = "Proceedings of the 33rd Chinese Control Conference, CCC 2014",
address = "美国",
}