DLR/HIT机器人灵巧手手指位置控制的研究

Research on Finger Position Control of DLR/HIT Hand

手指的位置控制是灵巧手进行力控制和多指协调等操作的基础。针对DLR/HIT灵巧手手指,首先建立了手指的坐标系,划分了层次化的手指控制空间。基于驱动空间的滑膜位置控制器和轨迹规划算法,设计和实现了关节空间及笛卡尔空间的手指位置控制策略。

Finger position control is base of force control and dexterous manipulation with multi - finger. Coordinate and layered control space of a finger for DLR/HIT hand have been build. Based on sliding mode control and trajectory planning,finger position control in joint space and cartesian space is designed and achieved.