Nonlinear Analysis and Discrete Learning Position Control for a Multifingered Hand

Based on nonlinear factors analysis of static friction,Coulomb friction,viscous friction etc.for a multifingered robot hand,the dynamic control model of a flexion-extension joint is derivied.To overcome the nonlinear effects,the discrete learning control strategy is presented.The convergence theorem is also given.The simulation result shows that it can make finger joint position reach desired position after finite times iteration.