Double-closed-loop controller for rigid-soft coupling dexterous hand motion control and design method thereof

By designing a dual closed-loop controller for software clever hands, combining sliding mode control and feedforward + PID control, the problem of software clever hands motion control is solved, and good dynamic and static performance is achieved.

CN119704202AActive Publication Date: 2025-03-28HARBIN INST OF TECH
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Patent Information

Application Number
CN202510171412.X
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-02-17
Publication Date
2025-03-28
Estimated Expiration
2045-02-17

AI Technical Summary

Technical Problem

The prior art is difficult to effectively solve the problem of motion control of soft smart hands, especially under the characteristics of multi-joint and small size, and dynamic processes have not been paid enough attention.

Method used

A dual closed-loop controller is designed, including a pneumatic ring and a position ring. The pneumatic ring uses a sliding mode controller and the position ring uses a feedforward + PID controller to provide attitude information through the body sensing scheme to achieve stable attitude control.

Benefits of technology

Good performance under different working conditions, excellent dynamic and static performance. When multiple joints are moved at the same time, the average error of each joint is less than 1deg, and the root mean square error is about 2deg, which simplifies the control of the soft hand movement.

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Abstract

The invention belongs to the technical field of controller design, and particularly relates to a double-closed-loop controller for rigid-soft coupling dexterous hand motion control and a design method of the double-closed-loop controller. The air pressure ring is an inner ring, and a sliding mode controller is used; the position ring is an outer ring, and a feedforward + PID controller is used; the air pressure ring comprises a data processing module and a sliding mode controller of the air pressure ring; the position ring comprises a data processing module and a feedforward + PID controller of the position ring; the data processing module of the air pressure ring is respectively connected with the IMU sensor and the data processing module of the position ring; the sliding mode controller is connected with the feedforward + PID controller, the air pressure sensor and the electromagnetic valve, and the data processing module of the position ring further receives joint angle target trajectory data. The motion control method is used for realizing motion control of the soft dexterous finger.
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