The fuzzy control of tendon-driven fingers based on position and tendon tension

Abstract

Existing control strategies of tendon-driven fingers are mostly based on the tendon tension control, which independently implemented with the single tension controller. The finger with n DOFs(degrees of freedom) designed here is actuated by the n+1 tendons and some strategies mapped the joint torques to the tendon tensions. The tendons, however, may be coupled with the others. To deal with the situation, some people proposed the control strategy that regulates tendon tensions in joint space rather than the tendon space and laws were validated by the experimental verifications. Generally, a fuzzy logic control is considered as a solution and a fuzzy control strategy were then introduced in this paper. The strategy would be combined with position control and tendon tension control, which proved to better adapt to the changing environment and the accurate control will be also demonstrated through the simulations. Finally, the feasibility of the algorithm is verified by using MATLAB.