title: Development of a GA-fuzzy-immune PID controller with incomplete derivation for robot dexterous hand.
abstract: In order to improve the performance of robot dexterous hand, a controller based on GA-fuzzy-immune PID was designed. The control system of a robot dexterous hand and mathematical model of an index finger were presented. Moreover, immune mechanism was applied to the controller design and an improved approach through integration of GA and fuzzy inference was proposed to realize parameters' optimization. Finally, a simulation example was provided and the designed controller was proved ideal.
authors.affiliation: School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China ; Xuyi Mine Equipment and Materials R&D Center, China University of Mining and Technology, Huai'an 211700, China.
authors.forename: Xin-hua
authors.initials: XH
authors.lastname: Liu
authors.affiliation: School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China.
authors.forename: Xiao-hu
authors.initials: XH
authors.lastname: Chen
authors.affiliation: School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China.
authors.forename: Xian-hua
authors.initials: XH
authors.lastname: Zheng
authors.affiliation: School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China.
authors.forename: Sheng-peng
authors.initials: SP
authors.lastname: Li
authors.affiliation: School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China.
authors.forename: Zhong-bin
authors.initials: ZB
authors.lastname: Wang
mesh_terms: D003198:Computer Simulation; D005385:Fingers / Q000502:physiology*; D006801:Humans; D008962:Models, Theoretical; D012371:Robotics / Q000295:instrumentation / Q000379:methods*
references.citation: Annu Int Conf IEEE Eng Med Biol Soc. 2010;2010:499-502
references.pmid: 21096539