Method for adaptively tracking and controlling fingertip force of robot anthropomorphic finger

A tracking control, robot technology, applied in the directions of manipulators, manufacturing tools, chucks, etc., can solve the problems of poor control accuracy and poor control effect, and achieve the effect of fast contact force

Inactive Publication Date: 2012-02-29
ZHEJIANG UNIV OF TECH
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the deficiencies of poor control accuracy and poor control effect of the existing robot anthropomorphic finger fingertip force, the

Method used

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  • Method for adaptively tracking and controlling fingertip force of robot anthropomorphic finger
  • Method for adaptively tracking and controlling fingertip force of robot anthropomorphic finger
  • Method for adaptively tracking and controlling fingertip force of robot anthropomorphic finger

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Embodiment Construction

[0042] The present invention will be further described below in conjunction with the accompanying drawings.

[0043] refer to Figure 1 to Figure 4 , a robot anthropomorphic finger adaptive fingertip force tracking control method, comprising the following steps:

[0044] 1) It is set that the anthropomorphic finger of the robot has n joints and n degrees of freedom, n is a natural number, and n≥2, the finger includes 1 side swing joint and n-1 bending joints, and the D-H of the finger with n degrees of freedom is established The linkage coordinate system, where the coordinate system x 0 the y 0 z 0 is the base coordinate system, that is, the fixed coordinate system; x 1 the y 1 z 1 , x 2 the y 2 z 2 ,...x n the y n z n Established relative to the base coordinate system, all are moving coordinate systems, x n the y n z n is the fingertip coordinate system;

[0045] 2) A fingertip five-dimensional force sensor is installed on the fingertip, and the actual contact...

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Abstract

The invention discloses a method for tracking and controlling the fingertip force of a robot anthropomorphic finger. The method comprises the following steps of: (1) setting n joints and n degrees of freedom for the robot anthropomorphic finger; (2) measuring practical contact force of the anthropomorphic finger and the environment through a fingertip five-dimensional force sensor; (3) subtracting expected contact force Fr from the practical contact force to obtain a contact force error Fe; (4) multiplying the contact force error by a ratio factor eta, and adding with a practical fingertip position X to obtain a reference position Xr of a next fingertip control period; (5) resolving the reference position Xr according to the finger inverse kinematics L-1 (Xr) to obtain an expected reference joint angle theta r; and (6) subtracting the practical angle theta of each joint of the finger from the expected reference joint angle theta r to obtain a difference value serving as the input of a finger position controller, and resolving an output result of the finger position controller according to the finger forward kinematics L (theta) to obtain a practical fingertip position. The method has high control accuracy and a good control effect.

Description

technical field [0001] The invention relates to a method for controlling an anthropomorphic finger of a robot. Background technique [0002] In the 1990s, the application of traditional industrial robots with general functions tended to be saturated, and with the further development of robot technology and the emergence of artificial intelligence technology, the application of robots gradually extended from the industrial field to agriculture, medical rehabilitation, service and entertainment In fields such as industry, the operating environment is often dynamic and non-good, and the operating objects have become more diverse and complex. This requires the robot to be equipped with more powerful end effectors with better adaptability and flexibility. It has prompted scholars at home and abroad to carry out research work on a new generation of robot end effectors. At present, researchers generally adopt the scheme: take the human hand as the prototype, simulate the function ...

Claims

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Application Information

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IPC IPC(8): B25J13/08B25J15/08
Inventor 王志恒鲍官军杨庆华张立彬
Owner ZHEJIANG UNIV OF TECH
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