气动柔性灵巧手输出力控制技术

Output Force Control of Pneumatic Flexible Dexterous Hand

阐述了一种气动柔性驱动器(FPA),及采用FPA驱动的气动柔性灵巧手(ZJUT Hand)。以ZJUTHand为研究对象,基于微分运动学理论,建立其手指的静力学模型,完成了手指静力跟踪的半闭环控制实验,验证了ZJUT Hand手指便于控制输出力的特点;基于指尖五维力传感器,提出了一种模糊自适应指尖力动态跟踪控制策略,完成了手指指尖力动态跟踪实验,结果表明:该控制策略能够在未知环境下,实现对手指指尖力快速、精确的动态跟踪,响应时间约为1 s,跟踪误差稳定在±0.15 N内。

A kind of flexible pneumatic actuator（FPA） was introduced,and a new type of FPA-driven pneumatic flexible dexterous hand,named ZJUT Hand,was also proposed.Taking ZJUT Hand as the research object,the static model of the finger was established based on differential kinematics theory.Semi-closed loop control experiments for static force tracking of the finger were carried out.It was concluded from experimental results that fingertip output force could be controlled easily.Based on 5-component force/torque sensor installed on the fingertip,a control strategy for dynamic adaptive fuzzy fingertip force tracking was proposed.Experiments of dynamic fingertip force tracking were completed.Experimental results show that the control strategy can realize fast and accurate dynamic fingertip force tracking under an unknown environment.The response time is 1 s.The force tracking error is within ±0.15 N.