外骨骼机器人手指鲁棒跟踪控制

基于外骨骼机器人手指系统动力学，提出了机器人鲁棒μ控制器的设计方法。分析了系统模型的不确定性，将负载动力学作为系统的反馈不确定，建立了合理的被控对象标称模型。基于高速DSP实现鲁棒控制器的数字化，在μ控制器设计和数字实现过程中考虑了机器人系统的计算延时。通过实验评估采样延时对机器人控制器鲁棒性能的影响。实验结果表明，μ控制器能够抑制干扰和模型不确定对机器人系统的影响，系统具有很好的鲁棒稳定性和鲁棒性能。

Robust Tracking Control of Exoskeleton Robot Finger

Base on the dynamical model of exoskeleton robot finger , the μ-synthesis robust controller is presented in this paper. System uncertainties are analyzed. The load dynamics are represented by a feedback uncertainty model. The proper control design model of plant is built. Based on high speed digital signal processor the robust digital controller is implemented. The sampling delay is considered in the control design process and digital controller implement process. We evaluated the problem concerning the robust controller performance and the sampling delay with the robot system. The experimental results show that μ-controller can suppress the influence of disturbances and unmodelled dynamics, the control system has robust stability and robust performance.