DSP-based fuzzy control of a multifingered robot hand

Abstract

This paper presents the fuzzy control of a multifingered robot hand by using the digital signal processor (DSP). Since there are five fingers and seventeen joints to be controlled simultaneously, a special designed control system with fuzzy controller is developed to deal with the nonlinear behavior and large computation load of the multifingered robot hand. The fuzzy controller dealing with the level of finger control, is a multiple-input-multiple-output (MIMO) fuzzy learning controller and is implemented in DSP chip. Furthermore, the communication function of the control system is designed so that the knowledge bases can be loaded for high level computation and modified during run time.