Design of a Sliding Mode Controller for a Prosthetic Human Hand’s Finger
نویسندگان
چکیده
In this research paper, the modeling and control of a tendon-driven, instead joint motors, prosthetic finger that mimics actual human index were deliberated. Firstly, dynamic model is developed based on 3-degree freedom (DOF) articulated robot structure utilizing Lagrange equation. Then, classical sliding mode (CSMC) strategy was implemented to motion. To overcome cons CSMC, such as chattering problem, an adaptive controller (ASMC) developed. MATLAB Simuphalange used perform simulation after necessary equations derived. The results showed ASMC superior CSMC in depressing fast response.
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ژورنال
عنوان ژورنال: Ma?allat? al-handasat? wa-al-tikn?l??iy?
سال: 2022
ISSN: ['1681-6900', '2412-0758']
DOI: https://doi.org/10.30684/etj.v40i1.1943