DLR/HIT II灵巧手控制系统及基关节同步控制

针对多传感器、多自由度机器人灵巧手,开发了基于DSP＆FPGA的多层控制系统.将手指驱动控制系统和传感器系统集成在手指内部,使得与人手尺寸和活动性相似的DLR/HIT II五指机器人灵巧手得以实现.对于手指基关节差分齿轮的运动协调问题,设计了包含速度和加速度前馈项、同步误差和位置误差反馈项以及平滑鲁棒非线性反馈补偿项的交叉耦合同步控制器,该控制器不需要精确的动力学模型.经与传统的非同步控制PD加摩擦力补偿控制和轨迹跟踪控制对比,实验验证了所设计的控制系统及交叉耦合同步控制器的有效性.

Control system for DLR/HIT II dexterous robot hand and synchronized control for base joint

A DSP＆FPGA-based multilevel control system was developed for multi-sensory and multi-DOF dexterous robot hand, in which the drive, control and sensor systems were integrated in the finger. So the five-finger DLR/HIT II dexterous robot hand that resembled the human hand regarding size and movability was realized. A synchronized cross-coupled controller for base joint of dexterous robot hand was designed, including feedforwards of velocity and acceleration, feedbacks of synchronous errors and position errors, and a smooth robust nonlinear feedback compensator. The controller did not require the explicit use of the system dynamic model. Compared with conventional non-synchronized PD friction compensation and trajectory tracking control, experimental results demonstrate the validity of the designed control system and synchronized cross-coupled controller.