Fuzzy Model Based Stability Analysis of the Metamorphic Robotic Palm

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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.
Original languageEnglish
Pages (from-to)8630-8635
Number of pages6
Issue number1
Early online date18 Oct 2017
Publication statusE-pub ahead of print - 18 Oct 2017


  • Metamorphic palm
  • dynamic modeling
  • stability analysis
  • fuzzy system


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