Self-tuning Fuzzy Control of Robot Hand

Applying self-tuning fuzzy control on USTB(University of Science and Technogoly Beijing) double thumb hand, adjusting fuzzy control parameters and control rules, fast respond time and no overshooting control of grasp force is obtained. Adopting grade control, an unkown mass object is grasped stably. Experimental results confirm that self-tuning fuzzy control has better effect than ordinary fuzzy control.