A novel impedance-based robust fuzzy sliding mode compliance control for the dexterous robot finger with uncertainties

Abstract

To promote the precision and flexibility of the dexterous robot finger, a novel impedance-based robust fuzzy sliding mode control approach is developed. In the proposed scheme, an impedance control part constructed aims to regulate the contact force; while the robust fuzzy sliding mode controller proposed accounts for enhancing the anti-interference of this uncertain robotic system. Specifically, by analyzing the forward and inverse kinematics of the finger, its dynamical model with unknown and uncertain force disturbances can be established, and based on this model, a novel robust sliding mode impedance force controller has been designed, also, several critical impedance control parameters can be quickly optimized by invoking the fuzzy logic system. Ultimately, the Lyapunov stability of the proposed control is strictly demonstrated in mathematics. The simulations present the efficacy of the proposed scheme in both constrained and unconstrained spaces.