On set-point tracking control of dexterous robot hand

A model-free set-point tracking control approach of multi-fingered robot hand is presented. The set-point tracking controller, which has the structural form of PD controller, is composed with a combination of feedforward term, feedback term and saturation control term. The controller does not require the explicit use of dynamic modeling parameters. Experiments performed on the HIT/DLR hand demonstrate the effectiveness of the proposed approach in performance improvement and real-time application.