仿人型机器人手的力矩保持功能及控制系统

针对仿人型机器人手的力矩保持问题,利用混合式步进电机的自锁特性,设计了具有力矩保持功能的手指驱动器,使手指抓取物体时保持抓取力不减小,同时电机不消耗电流.采用非线性跟踪微分器对位置信号滤波得到速度信号,设计了位置控制器和阻抗力矩控制器.实验结果证明,基于步进电机的自锁机构具有体积小,噪音低的优越性,阻抗控制器的力矩控制结果较好.

Control system of anthropomorphic robotic hand with keeping torque function

The finger's diver with keeping torque function for anthropomorphic robotic hand has been developed by employing the self bloking property of the hybrid step motor,which is able to keep the grasp force without consuming energy.We get the high quality velocity signals by employing the nonlinear tracking differentiator on position signals.Based on this,the position controller and the impedance torque controller are proposed.The experimental results show that the self bloking mechanism based on the step motor has the advantages of small size and low noise,and a good result of the torque control is obtained by the impedance controller.