机器人多指灵巧手基关节力矩/位置控制系统的研究

STUDY OF POSITION AND TORQUE FEEDBACK CONTROL SYSTEMOF MULTI-FINGERED DEXTEROUS ROBOT HAND

HIT- 1型机器人手是一种具有多种感知功能的仿人多指灵巧手 .目前对多指手单关节单自由度控制的研究较多 ,而对两自由度的手指基关节的研究却较少 .本文分析了 HIT- 1型手两自由度基关节的运动学和动力学模型 ,并在此基础上建立了基关节的位置和力矩反馈控制系统 .本文采用工业中常用的 PID控制算法分别实现了手指基关节在自由空间的位置控制和在约束空间的力矩控制 ,并对实验结果进行了分析 .

There was more research on single DOF of single finger than on the basejoint that has two DOFs. This paper gives a brief description of HIT-1 hand, a multi-fingered dexterous hand, and simply analyzes the base joint's kinematics and dynamics model. Then the position and torque feedback control system is constructed based on the model analysis. The traditional PID algorithm has been employed to complete both position control in free space and torque control in constrained environment, and some experimental results has been analyzed.