Fuzzy logic position control of the mini-linear driver

In order to overcome the limitations of the end clamps of traditional robot , multifingered dextrous robot hands have been well developed since the las t decade. A new fuzzy logic control structure is presented here for the pos ition control of the mini-linear driver used in driving the joints of the d extrous robot hands. This method is proved effective in simulations and pra ctices, and especially useful when the external disturbance varies in a lar ge range.