Controller

[Bigpig4396]

Hi, I notice you use 3 PID controllers for each finger, but each finger has 4 joints. One controller j0 controls joints j1 and j2. So are there controllers to control j1 and j2 separately?

[Bigpig4396]

I mean shadow hand

[toliver]

Hi, J1 and J2 are underactuated. There is a single actuator for both joints (although each one of them has a position sensor). That's why a single controller J0 is controlling J1 and J2.
They can't be controlled separately.