HIT机器人灵巧手手指及其阻抗控制的研究

Research on Fingers of HIT Dexterous Robot Hand and Impedance Control

手指对接触环境具有柔顺性是实现多指灵巧操作的关键,阻抗控制是实现机器人柔顺控制的主要方法之一。针对HIT灵巧手手指,阐述了其力/力矩传感器的设计,包括指尖六维力/力矩传感器和2个关节力矩传感器。利用指尖六维力/力矩传感器作为力反馈,实现了笛卡尔空间的阻抗控制。

The finger with flexibility in touching is a key factor in multi - finger dexterous manipulation. The resistance control is one of the main methods to realize the robot flexible control. Based on the fingers of HIT dexterous robot hand, design of their force/torque sensors is described, including a finger tip 6D force/torque sensor and two articulation torque sensors. With the finger tip 6D force/torque sensor acting as force feedback, the resistance control in Cartesian space is implemented.