Dynamic compensation of nonlinear dynamics research of mechanic anthropomorphic robotic hand

Authors:
Yuriy Tsepkovskiy;Lyubomir Antonov;Frank Palis
Affiliations:
Institut für Elektrische Energiesysteme, Otto-von-Guericke-Universität Magdeburg, Magdeburg, Germany;Department of Electrical Engineering, University of Chemical Technology and Metallurgy, Sofia, Bulgaria;Institut für Elektrische Energiesysteme, Otto-von-Guericke-Universität Magdeburg, Magdeburg, Germany
Venue:
ICAI'09 Proceedings of the 10th WSEAS international conference on Automation & information
Year:
2009

Citing 4
Cited 0

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Abstract

In this article two methods for control of scheme with compensation of nonlinear dynamics for manipulator with seven degrees of freedom are compared: PID control and adaptive fuzzy sliding mode control for variable value of gear ratio. The problem of system stability is concerned when there are constrains of control signal and disturbances of the control system quality.