| Autonomous control of multi-fingered hand |
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| 作者姓名： | JIANG Li LIU Hong |
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| 作者单位： | Robotics Research Institute, Harbin Institute of Technology, Harbin 150001, China |
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| 摘 要： | This paper describes a novel autonomous control strategy of multi-fingered hand based on a modular control system of dexterous manipulation. A simple proportional-integral-derivative(PID) position control with friction compensation, which requires few friction parameters, is used to realize accurate and smooth trajectory tracking in pregrasp phase. In grasp and manipulation phases, an event-driven switcher is adopted to determine the switching between unconstrained position control and constrained torque control, and an improved explicit integral force control strategy is implemented to realize simultaneously stable contact transition and accurate force tracking. Experimental results have verified the effectiveness of the proposed autonomous control strategy of multi-fingered hand.
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| 关 键 词： | multi-fingered hand autonomous control position control impact control |
Autonomous control of multi-fingered hand |
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| JIANG Li,LIU Hong.Autonomous control of multi-fingered hand[J].Progress in Natural Science,2006,16(5):531-537. |
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| Authors: | JIANG Li LIU Hong |
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| Institution: | Robotics Research Institute, Harbin Institute of Technology, Harbin 150001, China |
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| Abstract: | This paper describes a novel autonomous control strategy of multi-fingered hand based on a modular control system of dexterous manipulation. A simple proportional-integral-derivative(PID) position control with friction compensation, which requires few friction parameters, is used to realize accurate and smooth trajectory tracking in pregrasp phase. In grasp and manipulation phases, an event-driven switcher is adopted to determine the switching between unconstrained position control and constrained torque control, and an improved explicit integral force control strategy is implemented to realize simultaneously stable contact transition and accurate force tracking. Experimental results have verified the effectiveness of the proposed autonomous control strategy of multi-fingered hand. |
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| Keywords: | multi-fingered hand autonomous control position control impact control |
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