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The Scientific World Journal
Volume 2014, Article ID 564137, 10 pages
Research Article

Development of a GA-Fuzzy-Immune PID Controller with Incomplete Derivation for Robot Dexterous Hand

1School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China
2Xuyi Mine Equipment and Materials R&D Center, China University of Mining and Technology, Huai’an 211700, China

Received 19 January 2014; Revised 28 May 2014; Accepted 16 June 2014; Published 6 July 2014

Academic Editor: Chia-Feng Juang

Copyright © 2014 Xin-hua Liu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


In order to improve the performance of robot dexterous hand, a controller based on GA-fuzzy-immune PID was designed. The control system of a robot dexterous hand and mathematical model of an index finger were presented. Moreover, immune mechanism was applied to the controller design and an improved approach through integration of GA and fuzzy inference was proposed to realize parameters’ optimization. Finally, a simulation example was provided and the designed controller was proved ideal.