基于自适应固定滞后卡尔曼平滑器的状态观测器在假手上的应用

doi:10.13973/j.cnki.robot.180058

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吴广鑫, 姜力, 谢宗武, 李重阳, 刘宏. 基于自适应固定滞后卡尔曼平滑器的状态观测器在假手上的应用[J]. 机器人, 2018, 40(4): 474-478.DOI: 10.13973/j.cnki.robot.180058. WU Guangxin, JIANG Li, XIE Zongwu, LI Chongyang, LIU Hong. The Application of a State Observer Based on Adaptive Fixed-Lag Kalman Smoother to Prosthetic Hand. ROBOT, 2018, 40(4): 474-478. DOI: 10.13973/j.cnki.robot.180058.

摘要针对以电位计为角度传感器的假手系统，提出了一种基于自适应固定滞后卡尔曼平滑器的状态观测器以观测手指的当前位置、速度和加速度信息.首先，分析了卡尔曼滤波器滤除电位计热噪声并观测速度与加速度的合理性，进而建立了其系统的离散状态转移矩阵.其次，相比卡尔曼滤波器，卡尔曼平滑器在参数相同的情况下具有更好的平滑效果，据此提出一种基于固定滞后卡尔曼平滑器的状态观测器，并通过引入渐消因子以提高动态响应特性.同时给出了一种将本文算法滞后特性降至一个控制周期的有效实现方式.最后，在HIT-V仿人假手实验平台上进行了实验验证.实验结果表明，相比对原始数据直接进行差分，该方法将速度噪声降低了20倍以上，加速度噪声降低了10 000倍以上.相比标准卡尔曼滤波器和固定滞后卡尔曼平滑器，该方法在动态响应方面具有更好的效果.

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关键词 ：卡尔曼平滑器, 状态观测器, 假手

Abstract：A state observer based on adaptive fixed-lag Kalman smoother for prosthetic hand system with potentiometer as angle sensor is proposed to observe the current position, velocity and acceleration of the fingers. Firstly, the rationality is analyzed which using Kalman filter to filter the thermal noise of the potentiometer and observe the velocity and acceleration, and a discrete state transfer matrix of the system is established. The Kalman smoother has better smoothing effect than the Kalman filter under the same parameters. A state observer based on fixed-lag Kalman smoother is proposed, and a fading factor is introduced to improve the dynamic response. At the same time, an effective way is given to reduce the hysteresis characteristics of the proposed algorithm to one control cycle. Finally, experiments are performed on the HIT-V prosthetic hand experiment platform. The experimental results show that the proposed method significantly reduces the velocity noise by more than 20 times and the acceleration noise by more than 10 000 times comparing with the direct difference of the original data. Compared with the standard Kalman filter and the fixed-lag Kalman smoother, the proposed method has better effect on dynamic response.

Key words： Kalman smoother state observer prosthetic hand

收稿日期: 2018-01-22 录用日期: 2018-04-20

TP242.6

基金资助:国家自然科学基金（51521003，51675123，51705412）

通讯作者: 谢宗武,xiezongwu@hit.edu.cn E-mail: xiezongwu@hit.edu.cn

作者简介: 吴广鑫(1986-),男,博士生,研究领域:空间机器人遥操作系统.
姜力(1970-),男,博士,教授,研究领域:生机电一体化,机器人灵巧手.
谢宗武(1973-),男,博士,教授.研究领域:空间机器人控制与操作.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.180058 或 https://robot.sia.cn/CN/Y2018/V40/I4/474

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