多指手的协调阻抗控制

Coordinated Impedance Control of a Multifingered Hand

采用协调阻抗控制解决多指手在自由空间和受限空间的控制，这种方法可调节物体位置和对外界作用力间的阻抗关系，实现所需的物体动态性能，同时，考虑了多个手指间的协调。并对自由运动和受限运动的情况作了仿真。

Coordinated impedance control is used to realize multifingered hand control in both freeand constrained space. The dynamic property of the manipulator is taken as the object ofcontrol and the coordination between the fingers is duly considered. The system proposedconsists of four subsystems, namely,the impedance control of the object, the calculation ofthe internal force and load distribution,the algorithm for mapping the Cartesian space con-trol signal onto a physically realized joint space control torque,and the dynamic compensa-tion for the fingers.The effectiveness of the control method is verified by simulation in bothfree and constrained space.