Research on Double-Motor Cooperative Control of Dexterous Finger with Variable Stiffness

As a kind of end effector of grasping robot, the bionic dexterous hand has been widely concerned by researchers since its birth for its high flexibility and strong adaptability to different scenes. This paper aims at a new type of adversarial flexible joint finger mechanism with variable stiffness, develops a multi-motor cooperative controller combined with Hall sensor AS5048A and brushless motor motion controller MC5004P. Aiming at the motion coordination problem of each finger joint, combined with a low-pass filter, a cross-coupling synchronous controller including synchronization error and position error feedback is designed. Finally, the experiment result demonstrates that the synchronous controller has advantageous accuracy and realizes the variety of the finger’s stiffness.