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Fine grabbing-oriented dexterous hand adaptive admittance control system and method

A control method and technology for a control system, which are applied in the field of dexterous hand adaptive admittance control systems for fine grasping, can solve problems such as self-adaptation and force overshoot, and achieve the effect of solving self-adaptation and force overshoot

Pending Publication Date: 2022-07-29
ZHEJIANG UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The present invention mainly solves the problems of adaptability to various objects and force overshoot in the process of grasping force control of dexterous hands through the following two aspects

Method used

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  • Fine grabbing-oriented dexterous hand adaptive admittance control system and method
  • Fine grabbing-oriented dexterous hand adaptive admittance control system and method
  • Fine grabbing-oriented dexterous hand adaptive admittance control system and method

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Embodiment Construction

[0048] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention. The present invention is an adaptive admittance control system for a dexterous hand based on fine grasping. The control system is mainly composed of a fully-driven uncoupling five-finger dexterous hand driven by tendons, a power supply module, a driver module, a sensor module, and a multiplexing module. , AD conversion module, bottom control module, host module. The fully-driven uncoupling five-finger dexterous hand driven by tendons is composed of five independent fingers, each finger includes a side swing joint and three bending joints with a total of four degr...

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Abstract

The invention discloses a dexterous hand adaptive admittance control system and method based on fine grabbing, and the system comprises a task planning layer and a bottom control layer, and the task planning layer is used for task motion planning, load distribution, motion distribution, man-machine information interaction and control parameter transmission. And the bottom control layer is used for controlling the joint position and the contact force of the dexterous hand according to the acquired various sensor information and the control command and the control parameter sent by the task planning layer. According to the method, force control and position control are incorporated into the same frame through parameter identification of an unknown environment (object) kinetic model, design of the adaptive rate and an impedance relation established between contact force and the position, accurate control of the contact position and the contact force of the dexterous hand in a fine grabbing task is achieved, and the method has the advantages of being simple in structure and convenient to operate. The problems of self-adaptability and force overshoot to various objects in the grabbing force control process of the dexterous hand are solved.

Description

technical field [0001] The invention belongs to the field of robot dexterous hand control, and relates to a fine grasping-oriented dexterous hand adaptive admittance control system and method. Background technique [0002] With the continuous development of science and technology, the application field of robots has gradually expanded from the industrial environment to the human daily life environment. The multi-fingered dexterous hand, as the end effector of the robot, mainly undertakes the tasks of grasping and manipulating daily objects. A stable and reliable control strategy is the key to ensure the grasping and manipulation tasks of multi-fingered dexterous hands. According to whether the dexterous hand is in contact with the environment, the working space of the dexterous hand can be divided into two parts: free space and constrained space. In free space, the dexterous hand is not forced, only positional control is required. In the constrained space, the fingers are...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1661B25J9/1628Y02T90/00
Inventor 钱少明王壮祝雯豪周锦瑜盛士能俞冰清鲍官军
Owner ZHEJIANG UNIV OF TECH
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