Adaptive Modified Transpose Jacobian Control of a Two-fingered Robotic Hand

In this paper, an Adaptive Modified Transpose Jacobian approach is presented which employs an adaptive algorithm in order to tune control gains. In order to overcome the disadvantages of large gains as well as the need for trial and error to find gains in Transpose Jacobian algorithm, a modified version of the foregoing algorithm was proposed in the literature which is called Modified Transpose Jacobin. In this paper, an adaptive method is utilized for driving the gains of Modified Transpose Jacobian algorithm. Simulation results are presented in MATLAB and ADAMS software on a two fingered robotic hand tracking a circular path with straight corners to end of comparing tracking performance of the proposed algorithm with Transpose Jacobian, Modified Transpose Jacobian and Adaptive Transpose Jacobian control algorithms. The obtained results reveal that the proposed Adaptive Modified Transpose Jacobian control perform better compared to the other three methods in high speed motion. In the case of low-speed motion, the Adaptive Transpose Jacobian and Modified Transpose Jacobian algorithms results in best performance over the other non-adaptive algorithms.