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- W2766271749 abstract "Abstract The metamorphic hand can flexibly relocate fingers by a reconfigurable palm. A precondition for the successful hand operation would be a stable palm control system. Following this concern, this paper presents the stability analysis of the reconfigurable palm control system based on the Takagi-Sugeno (T-S) fuzzy model. The dynamic model of the metamorphic palm is developed by using the Euler Lagrangian theory and the closed-chain kinematic constraints. To further reduce the conservativeness in stability analysis and ensure a wider range of stable dynamic performance, a membership-dependent fuzzy modeling approach is also applied. Simulation is provided to demonstrate the achieved improvement of analysis results." @default.
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- W2766271749 date "2017-07-01" @default.
- W2766271749 modified "2023-09-24" @default.
- W2766271749 title "Fuzzy Model Based Stability Analysis of the Metamorphic Robotic Palm" @default.
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- W2766271749 doi "https://doi.org/10.1016/j.ifacol.2017.08.1517" @default.
- W2766271749 hasPublicationYear "2017" @default.
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