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

为提高多指灵巧手的控制和操作性能,提出了基于集中控制-分层处理的DLR/HIT Ⅱ机器人灵巧手实时控制系统结构,并建立了基于Simulink/QNX的实时控制平台和嵌入式驱动控制层,极大地简化了高集成度机电一体化灵巧手的控制器设计过程,并实现灵巧手在多自由度仿机器人上的无缝连接,进行了多指灵巧手空间协调阻抗控制的研究,基于手指指尖位置建立了适用于任意手指数目n的机器人灵巧手物体空间坐标系,并基于六维空间虚拟弹簧的阻抗思想和关节力矩反馈实现了以被抓取物体位置和姿态为控制目标的多指灵巧手空间协调阻抗控制.在基于Simulink/QNX的实时控制平台上对DLR/HIT Ⅱ灵巧手进行了空间协调阻抗控制实验,实验结果表明了灵巧手控制软硬件系统和控制策略的有效性和稳定性.在未降低灵巧手自由度的前提下,将DLR/HIT Ⅱ多指灵巧手协调抓取操作的控制输入量由30个减为6个,为提高抓取规划算法效率提供了稳定高效的新型控制策略.

The task-orientated control system of a dexterous robot hand with a multi-fingered spatial coordinating impedance control

In order to improve the control and manipulation performance, this paper presented a centralized-controller/decentralized-data-processing real time control architecture for the DLR/HIT II dexterous robot hand, which significantlysimplified the development procedure of controller for a highly integrated mechatronic robot hand, and provided a seamlessinterface between the dexterous robot hand and humanoid robots. By utilizing the positions of fingertips, this paper proposed anobject level frame for n-fingered robot hand. In order to control the position and orientation of the object, a spatial coordinatingimpedance controller has been implemented based on 6-DoF spatial virtual spring stiffness and joint torque feedback. Theexperiments were carried out with the proposed real time control system on DLR/HIT II robot hand, and experimental resultsshowed the effectiveness of the designed control system and spatial impedance controller. The control inputs for grasping andmanipulation have been reduced to 6 other than 30 for 5-fingered robotic hand DLR/HIT II.