Soft bionic teleoperation hand position control method based on novel sliding mode active-disturbance-rejection algorithm

• Main Authors: YANG ZONGPU, DAI XIAOQIANG, ZENG QINGJUN, LING ZHENG
• Format: Patent
• Language: Chinese; English
• Published: 02.04.2024
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention discloses a soft bionic teleoperation hand position control method based on a novel sliding mode active-disturbance-rejection algorithm. A soft bionic teleoperation hand is made of a human body silica gel material and is driven by gas. The position control method comprises the following steps: (1) performing position following by the slave hand according to a bending angle monitored by the upper computer when the master hand grabs; (2) mechanical analysis modeling is conducted on the soft hand, and the relation between the air pressure and the bending angle is determined; (3) designing a global fast terminal sliding mode active-disturbance-rejection position control algorithm to process the deviation between the expected bending angle and the actual bending angle; (4) improving a reaching law part in the algorithm, and using a saturation function to reduce buffeting; and (5) determining a control rate by using a Lyapunov stability theory. And in combination with the control rate and the detected