The Control System of the Tendon-Driven Space Five-fingered Dexterous Hand
HAN Dong1,2, NIE Hong1, CHEN Jinbao1, YAN Wenyu1, WANG Xiaotao1
1. State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
2. Aerospace System Engineering Shanghai, Shanghai 201108, China
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. ROBOT, 2016, 38(2): 129-134. DOI: 10.13973/j.cnki.robot.2016.0129.
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.
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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