韩冬, 聂宏, 陈金宝, 颜文彧, 王小涛. 腱驱动空间五指灵巧手控制系统研究[J]. 机器人, 2016, 38(2): 129-134. DOI: 10.13973/j.cnki.robot.2016.0129
引用本文: 韩冬, 聂宏, 陈金宝, 颜文彧, 王小涛. 腱驱动空间五指灵巧手控制系统研究[J]. 机器人, 2016, 38(2): 129-134. DOI: 10.13973/j.cnki.robot.2016.0129
HAN Dong, NIE Hong, CHEN Jinbao, YAN Wenyu, WANG Xiaotao. The Control System of the Tendon-Driven Space Five-fingered Dexterous Hand[J]. ROBOT, 2016, 38(2): 129-134. DOI: 10.13973/j.cnki.robot.2016.0129
Citation: HAN Dong, NIE Hong, CHEN Jinbao, YAN Wenyu, WANG Xiaotao. The Control System of the Tendon-Driven Space Five-fingered Dexterous Hand[J]. ROBOT, 2016, 38(2): 129-134. DOI: 10.13973/j.cnki.robot.2016.0129

腱驱动空间五指灵巧手控制系统研究

The Control System of the Tendon-Driven Space Five-fingered Dexterous Hand

  • 摘要: 以适用于空间在轨服务的腱驱动五指灵巧手为研究对象,设计具有一定实时性的控制系统.为满足腱驱动灵巧手多指操作对同步性和实时性的特殊要求,提出基于 RTX(real time extension)共享内存的模块化软件架构,可集成人机交互、虚拟显示、遥操作以及数据传输等模块,具有扩展性好、结构清晰、传输效率高的优点.针对腱驱动耦合的问题,提出关节空间到腱空间的解耦矩阵,并据此给出实时多指协调运动控制方法,以确保各手指同时到达期望位置,减小腱驱动迟滞造成的不利影响.最后通过多指灵巧抓取以及遥操作实验,验证所提控制系统的稳定性、可靠性.

     

    Abstract: A real-time control system is designed for a tendon-driven five-fingered dexterous hand for on-orbit service. In order to satisfy the special requirements for synchronism and real-timeness of multi-finger operation for tendon-driven hand, a modular software architecture based on RTX (real time extension) shared memory is proposed, which can integrate man-machine interface, virtual display, tele-operation and data transmission. This software architecture has virtues of good scalability, clear structure and high transmission efficiency. The decoupling matrixes from joint-space to tendon-space are presented to solve the problem of tendon-driven coupling, and they are used for the real-time coordinated motion control of multiple fingers to ensure the fingers simultaneously reach the desired positions and decrease the negative effects of tendon-driven delay. Finally, the proposed control system is proven to be stable and reliable by the experiments of multi-finger dexterous grasp and tele-operation.

     

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