Synchronized cross-coupled control for base joint of dexterous robot hand

A synchronized cross-coupled control approach is presented to improve trajectory tracking accuracy for base joint of dexterous robot hand, including feedbacks of synchronous errors and position errors, and a smooth robust nonlinear feedback compensator. The dynamics model of the robot is also established. According to Lyapunov stability analysis, it is proved that the proposed method can guarantee both synchronization and position errors converge to zero and the system is asymptotically stable. The proposed control strategy is compared with conventional non-synchronized PD friction compensation and trajectory tracking control, and experimental results demonstrate its validity.