哈尔滨工程大学学报2012，Vol.33Issue(4)：476-484,9.DOI:10.3969/j.issn.1006-7043.201105063
面向任务的机器人灵巧手控制系统及多指空间协调阻抗控制
The task-orientated control system of a dexterous robot hand with a multi-fingered spatial coordinating impedance control
摘要
Abstract
In order to improve the control and manipulation performance, this paper presented a centralized-eontroller/ decentralized-data-processing real time control architecture for the DLR/HIT II dexterous robot hand, and established a Simuhrik/QNX-based real time control platform along with an embedded drive control layer. These improvements significantly simplified the development procedure of a controller for a highly integrated mechatronic robot hand, and provided a seamless interface between the dexterous robot hand arid multi-DoF humanoid robots. By utilizing the positions of fingertips , this paper proposed an object level frame for an n -fingered robot hand. In order to control the position and pose of the object being grabbed, a spatial coordination impedance controller has been implemented based on 6-DoF spatial virtual spring stiffness and joint torque feedback. The experiments were carried out on a Simulink/QNX-based real time control platform with the proposed real time control system on the DLR/HIT II robot hand. Experimental results show the effectiveness of the designed control system and spatial impedance controller. The control inputs for grasping and manipulation have been reduced to 6 other than the 30 needed for a 5-fingered robotic hand DLR/HIT II.关键词
多指灵巧手/实时控制系统/空间虚拟弹簧/阻抗控制Key words
dexterous robot hand/ real time control system/ spatial virtual spring/ impedance control分类
信息技术与安全科学引用本文复制引用
陈兆芃,金明河,樊绍巍,刘伊威,吴克,姜力,刘宏..面向任务的机器人灵巧手控制系统及多指空间协调阻抗控制[J].哈尔滨工程大学学报,2012,33(4):476-484,9.基金项目
国家863计划基金资助项目(2009AA043803) （2009AA043803）
新世纪优秀人才支持计划基金资助项目(NCET-10-0056). （NCET-10-0056）
