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.
[1] 崔乃刚, 王平, 郭继峰, 等.空间在轨服务技术发展综述 [J].宇航学报, 2007, 28(4):805-811. Cui N G, Wang P, Guo J F, et al. A review of on-orbit servicing[J]. Journal of Astronautics, 2007, 28(4): 805-811.[2] 李岩, 党常平.空间在轨服务技术进展[J].兵工自动化, 2012, 31(5):79-82,86. Li Y, Dang C P. The development of orbital servicing technology in space[J]. Ordnance Industry Automation, 2012, 31(5): 79-82,86.[3] 梁斌, 杜晓东, 李成, 等.空间机器人非合作航天器在轨服务研究进展[J].机器人, 2012, 34(2):242-256. Liang B, Du X D, Li C, et al. Advances in space robot on-orbit servicing for non-cooperative spacecraft[J]. Robot, 2012, 34(2): 242-256.[4] 李久振, 刘博, 张玉茹.北航 BH-985 灵巧手结构设计[C]// 全国印刷、包装机械凸轮、连杆机构学术研讨会(第 6 届全国凸轮机构学术年会)论文集.2005: 140-142. Li J Z, Liu B, Zhang Y R. Structure design of BH-985 dexterous hand[C]//National Printing, Packaging Machinery Cam Linkage Symposium (6th Annual Conference of the National Cam) Proceedings. 2005: 140-142.[5] 刘伊威, 金明河, 樊绍巍, 等.五指仿人机器人灵巧手 DLR/HIT Hand II[J].机械工程学报, 2009, 45(11):10-17. Liu Y W, Jin M H, Fan S W, et al. Five-finger dextrous robot hand DLR/HIT Hand II[J]. Journal of Mechanical Engineering, 2009, 45(11): 10-17.[6] 樊绍巍, 刘伊威, 金明河, 等.HIT/DLR Hand II 类人形五指灵巧手机构的研究[J].哈尔滨工程大学学报, 2009, 30(2):171-177.Fan S W, Liu Y W, Jin M H, et al. Research on the mechanics of the HIT/DLR Hand II anthropomorphic five-finger dexterous hand[J]. Journal of Harbin Engineering University, 2009, 30(2): 171-177.[7] 樊绍巍.类人型五指灵巧手的设计及抓取规划的研究[D].哈尔滨:哈尔滨工业大学, 2010.Fan S W. Research on design and grasping planning of anthropomorphic five-fingered dexterous hand[D]. Harbin: Harbin Institute of Technology, 2010.[8] 兰天, 刘伊威, 金明河, 等.DLR/HIT II 灵巧手控制系统及基关节同步控制[J].电机与控制学报, 2009, 13(4):608-614.Lan T, Liu Y W, Jin M H, et al. Control system for DLR/HIT II dexterous robot hand and synchronized control for base joint[J]. Electric Machines and Control, 2009, 13(4): 608-614.[9] Tzvetkova G V. Robonaut 2: Mission, technologies, perspectives[J]. Journal of Theoretical and Applied Mechanics, 2014, 44(1): 97-102.[10] Diftler M A, Ahlstrom T D, Ambrose R O, et al. Robonaut 2 -- Initial activities on-board the ISS[C]//IEEE Aerospace Conference. Piscataway, USA: IEEE, 2012: 12p.[11] Diftler M A, Mehling J S, Abdallah M E, et al. Robonaut 2 -- The first humanoid robot in space[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA: IEEE, 2011: 2178-2183.[12] Kawasaki H, Komatsu T, Uchiyama K. Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu Hand II[J]. IEEE/ASME Transactions on Mechatronics, 2002, 7(3): 296-303. [13] Mouri T, Kawasaki H, Yoshikawa K, et al. Anthropomorphic robot hand: Gifu Hand III[C]//11th International Conference on Computer Application in Shipbuilding. 2002: 1288-1293.[14] Bridgwater L B, Ihrke C A, Diftler M A, et al. The Robonaut 2 hand -- Designed to do work with tools[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA: IEEE, 2012: 3425-3430.[15] Abdallah M E, Platt R Jr, Wampler C W. Decoupled torque control of tendon-driven fingers with tension management[J]. International Journal of Robotics Research, 2013, 32(2): 247-258. [16] 吴勇, 熊振华, 丁汉.基于 RTX 和 MFC 的后封装平台数据采集和控制系统[J].系统工程与电子技术, 2004, 26(9):1257-1261.Wu Y, Xiong Z H, Ding H. Data acquisition and control system based on RTX and MFC packaging platform[J]. Systems Engineering and Electronics, 2004, 26(9): 1257-1261.
