Hybrid Force-Position Control Three Fingers End Effector

Abstract

This paper describes the implementation of a hybrid controller to an end effector of threefingers, each finger with two degrees of freedom (2 DOF). Since the mobility of each phalanx showsthe workspace by finger. Modeling is presented which includes the kinematics and dynamics offector and implementation of force-position hybrid controller. Simulations are presented to validatethe behavior of the finger and the controller in Matlab Simulink.