多指灵巧手的位置/力矩控制

Position/torque control of multi-fingered dexterous hand

提出了一种新的多指手位置/力矩控制策略.该策略基于滑模位置控制和PD力矩控制分别实现自由空间中的轨迹跟踪和约束空间中的力矩跟踪,利用简单的系统观测器实现灵巧手在过渡过程中的控制模式切换.该策略具有很好的位置/力矩跟踪能力,并且可以保证过渡过程的稳定性.实验结果证明了该控制策略的有效性和可行性.

<Abstrcat> A new position/torque control strategy for multi-fingered hand is proposed.Both trajectory tracking in free space and torque tracking in constrained space are realized by using sliding mode positioning control and PD torque control,respectively,while the switch of control mode is realized by using a simple system observer.The method has good performance of position tracking and torque tracking,and can assure the transition stability.Experimental results verify the effectiveness and feasibility of this control strategy.