基于改进指数型角速度规划的指关节控制研究

Research on Control of Finger Joint Based on Improved Exponential Angular Rate Planning

设计了一种具有三个自由度的全驱动灵巧手指,针对手指关节的位置控制方法进行了研究,提出了改进指数型角速度规划PID反馈控制。采用霍尔角度传感器进行手指关节位置数据采集,以及采用改进指数型角速度规划PID反馈控制对手指关节位置进行了控制。实验结果表明,改进的控制方法与一般的PID反馈控制方法相比,可以避免位置超调,减少了控制时间,且位置控制精度均小于±0.2°。

This paper discusses the position control of a full driven dexterous finger with 3 DOF.The PID feedback control system of finger joint based on improved exponential angular rate planning is proposed.The hall sensor is selected to ac-quire the position information of finger joint,and the PID feedback control system based on improved exponential angular rate planning is adopted to control the position of finger joint.