Abstract: The experimental study of position control of a light
weight and small size robotic finger during non-contact motion is
presented in this paper. The finger possesses fingertip pinching and
self adaptive grasping capabilities, and is made of a seven bar linkage
mechanism with a slider in the middle phalanx. The control system is
tested under the Proportional Integral Derivative (PID) control
algorithm and Recursive Least Square (RLS) based Feedback Error
Learning (FEL) control scheme to overcome the uncertainties present
in the plant. The experiments conducted in Matlab Simulink and xPC
Target environments show that the overall control strategy is efficient
in controlling the finger movement.