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.