| 空间五指灵巧手单指力柔顺控制系统设计 |
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| 引用本文： | 王小涛,徐彤彤. 空间五指灵巧手单指力柔顺控制系统设计[J]. 科学技术与工程, 2019, 19(1) |
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| 作者姓名： | 王小涛 徐彤彤 |
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| 作者单位： | 南京航空航天大学航天学院,南京,210016;南京航空航天大学航天学院,南京,210016 |
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| 摘 要： | 为了可靠稳定地抓握物体,空间五指灵巧手大多采用主动柔顺控制方法。针对单指研究了腱空间和关节空间两种阻抗控制方法。基于所研制灵巧手系统参数建立的动力学模型,对两种方法进行了仿真分析。仿真结果验证了腱张力分配算法和两种控制器设计的有效性。关节空间控制方法消除了耦合效应,从而具有更好的跟踪性能。
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| 关 键 词： | 空间五指灵巧手 柔顺控制 阻抗控制 控制率 |
| 收稿时间： | 2018-08-29 |
| 修稿时间： | 2018-10-15 |
Design of Single Finger Force Compliance Control System for space five-fingered dexterous hand |
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| Xu Tongtong and Wang Xiaotao. Design of Single Finger Force Compliance Control System for space five-fingered dexterous hand[J]. Science Technology and Engineering, 2019, 19(1) |
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| Authors: | Xu Tongtong and Wang Xiaotao |
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| Affiliation: | Nanjing University of Aeronautics and Astronautics,Nanjing University of Aeronautics and Astronautics |
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| Abstract: | In order to grasp object reliably and stably,the active compliance control method is often adopted in the space five-fingered dexterous hand. This paper investigates two impedance control approaches including tendon-space and joint-space according to the single finger. Based on the dynamic model of the developed dexterous hand system, two methods are simulated and analyzed. The simulation results verify the tendon tension assignment algorithm and the effectiveness of the two controller designs. The joint-space control method eliminates the coupling effect,so that it has better tracking performance. |
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| Keywords: | space five-fingered dexterous hand compliance control impedance control control law |
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