空间五指灵巧手单指力柔顺控制系统设计
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摘要
为了可靠稳定地抓握物体,空间五指灵巧手大多采用主动柔顺控制方法。针对单指研究了腱空间和关节空间两种阻抗控制方法。基于所研制灵巧手系统参数建立的动力学模型,对两种方法进行了仿真分析。仿真结果验证了腱张力分配算法和两种控制器设计的有效性。关节空间控制方法消除了耦合效应,从而具有更好的跟踪性能。
In order to grasp object reliably and stably,the active compliance control method is often adopted in the space five-fingered dexterous hand. Two impedance control approaches including tendon-space and joint-space according to the single finger. Based on the dynamic model of the developed dexterous hand system,two methods are simulated and analyzed. The simulation results verify the tendon tension assignment algorithm and the effectiveness of the two controller designs. The joint-space control method eliminates the coupling effect,so that it has better tracking performance.
In order to grasp object reliably and stably,the active compliance control method is often adopted in the space five-fingered dexterous hand. Two impedance control approaches including tendon-space and joint-space according to the single finger. Based on the dynamic model of the developed dexterous hand system,two methods are simulated and analyzed. The simulation results verify the tendon tension assignment algorithm and the effectiveness of the two controller designs. The joint-space control method eliminates the coupling effect,so that it has better tracking performance.
引文
1樊绍巍.类人型五指灵巧手的设计及抓取规划的研究[D].哈尔滨:哈尔滨工业大学,2010Fan Shaowei. Research on design and grasping planning of anthropomorphic five-fingered dexterous hand[D]. Harbin:Harbin Institute of Technology,2010
2 冯敦超,王小涛,韩亮亮.基于腱驱动的空间多指灵巧手的位置/腱张力混合控制[J].航天控制,2014,32(6):57-62Feng Dunchao,Wang Xiaotao,Han Liangliang. Position and tendontension hybrid control of tendon-driven based space multi-fingered dexterous hand[J]. Aerospace Control,2014,32(6):57-62
3 Han D,Nie H,Chen J,et al. The control system of the tendon-driven space five-fingered dexterous hand[J]. Robot,2016,4(3):56-62
4 董晓星.空间机械臂力柔顺控制方法研究[D],哈尔滨:哈尔滨工业大学,2013Dong Xiaoxing. Research of compliance control stategies for space robotic arm[D]. Harbin:Harbin Institute of Technology,2013
5 Lv B,Liu S,Gu J,et al. Dynamic modeling method on space robot dexterous hand based on finite element theory[C]//International Conference on Engineering Science and Management. New York:IEEE,2016:47-55
6 Lee J J,Tsai L W. Torque resolver design for tendon-driven manipulators[J]. Journal of Mechanical Design,1993,115(4):877-883
7 Abdallah M E,Platt R,Wampler C W,et al. Applied joint-space torque and stiffness control of tendon-driven fingers[C]//IEEE International Conference on Humanoid Robots. New York:IEEE,2010:74-79
8 Salisbury J K,Craig J J. Articulated handsForce control and kinematic issues[J]. International Journal of Robotics Research,1981,1(1):4-17
9 王喜文.日本机器人新战略[J].中国工业评论,2015(6); 70-75Wang Xiwen. Japanese robot new strategy[J]. China Industry Review,2015(6); 70-75
10 蔡鹤皋.对我国机器人产业发展的思考[J].集成技术,2015,1(5):1-4Cai Hegao. Reflections on the development of robot industry in china[J]. Journal of Integration Technology,2015,1(5):1-4
2 冯敦超,王小涛,韩亮亮.基于腱驱动的空间多指灵巧手的位置/腱张力混合控制[J].航天控制,2014,32(6):57-62Feng Dunchao,Wang Xiaotao,Han Liangliang. Position and tendontension hybrid control of tendon-driven based space multi-fingered dexterous hand[J]. Aerospace Control,2014,32(6):57-62
3 Han D,Nie H,Chen J,et al. The control system of the tendon-driven space five-fingered dexterous hand[J]. Robot,2016,4(3):56-62
4 董晓星.空间机械臂力柔顺控制方法研究[D],哈尔滨:哈尔滨工业大学,2013Dong Xiaoxing. Research of compliance control stategies for space robotic arm[D]. Harbin:Harbin Institute of Technology,2013
5 Lv B,Liu S,Gu J,et al. Dynamic modeling method on space robot dexterous hand based on finite element theory[C]//International Conference on Engineering Science and Management. New York:IEEE,2016:47-55
6 Lee J J,Tsai L W. Torque resolver design for tendon-driven manipulators[J]. Journal of Mechanical Design,1993,115(4):877-883
7 Abdallah M E,Platt R,Wampler C W,et al. Applied joint-space torque and stiffness control of tendon-driven fingers[C]//IEEE International Conference on Humanoid Robots. New York:IEEE,2010:74-79
8 Salisbury J K,Craig J J. Articulated handsForce control and kinematic issues[J]. International Journal of Robotics Research,1981,1(1):4-17
9 王喜文.日本机器人新战略[J].中国工业评论,2015(6); 70-75Wang Xiwen. Japanese robot new strategy[J]. China Industry Review,2015(6); 70-75
10 蔡鹤皋.对我国机器人产业发展的思考[J].集成技术,2015,1(5):1-4Cai Hegao. Reflections on the development of robot industry in china[J]. Journal of Integration Technology,2015,1(5):1-4