Advanced Control Strategies for the Robotic Hand

Abstract

The research in this master’s thesis presents a new state-space representation of the nonlinear dynamics of two-link (thumb) and three-link (index) fingers of a robotic hand and an effective online solution of finite-time, nonlinear, closed-loop optimal control regulator and tracking problems using the state-dependent Riccati equations (SDRE). The technique involves the use of the solution of the algebraic Riccati equation for the in finite-time case (hence the technique is approximate) and the change of variables that converts a state-dependent, nonlinear, differential Riccati equation (SD-DRE) to a linear differential Lyapunov equation (DLE) which can be solved in closed form. The approximate technique is demonstrated by software simulation and hardware experimentation for the two-link and three-link fingers of the robotic hand.