基于连杆力矩传感器动态补偿的机器人灵巧手笛卡儿阻抗控制

Cartesian Impedance Control for Dexterous Robot Hand Based on Dynamic Compensation of Link Torque Sensor

为了对连杆空间力矩传感器进行动态补偿,提出了适用于求取串联机器人任意连杆中任意一点处所受的内力和内力矩的算法.该算法采用连杆假想截断原理利用牛顿-欧拉方程推导而出.推导过程综合考虑了串联机器人是否处于静态以及末端是否受外力作用的情况,以及串联机器人的关节是否是回转关节的情况.然后利用该算法计算动态补偿值,构建了基于连杆力矩传感器动态补偿的笛卡儿阻抗控制器.最后在HIT/DLR Hand II五指灵巧手上进行了实验验证.实验结果一方面验证了该算法的有效性,另一方面也验证了本文所构建的笛卡儿阻抗控制器的有效性.

In order to achieve dynamic compensation of torque sensor in link space,an effective algorithm for calculating the internal force and torque at any point in any link of a serial robot is proposed.This algorithm is derived by Newton-Euler equations using a hypothetical truncation principle of the link.In the deriving process,some situations are taken into account,such as whether the serial robot is static,whether an external force is exerted on its end,and whether each joint of the serial robot is a rotary joint.Then a Cartesian impedance control scheme based on the dynamic compensation of link torque sensor is developed,in which the dynamic compensative values are calculated by the algorithm.Finally,the algorithm and the Cartesian impedance control scheme are verified on five-finger dexterous hand of HIT/DLR Hand.The experimental results demonstrate the validity of the algorithm and the Cartesian impedance control scheme.