dlrhit仿人灵巧手系统及手指柔顺控制的研究word格式论文.docx

摘要空间的柔顺控制。本文运用Paul提出的四次多项式轨迹插补算法和驱动器的滑模变结构控制，设计了手指的关节位置跟踪控制算法，并进而完成了笛卡尔空间的指尖位置控制。当灵巧手在完成与环境接触的作业时，手指的柔顺性十分重要，阻抗控制是实现手指主动柔顺的主要方法之一，得到深入研究和广泛应用。本文以指尖六维力/力矩传感器提供的力信息和指尖位置控制为基础，实现了基于位置的笛卡尔空间的手指阻抗控制。在利用灵巧手完成某些特定的操作时，要对指尖与环境间的接触力进行控制。本文基于自适应策略，设计和实现了手指的阻抗控制的力跟踪算法，在不同刚度的环境下实现力跟踪控制。本文最后进行了关节空间阻抗控制的研究，提出和实现了可变内环PD位置器控制参数的阻抗控制策略。关键词机器人灵巧手；外观设计；位置控制；阻抗控制；—II —AbstractAsanimportanttooltoimproveintelligentandmanipulativelevelsoftherobot, multi-sensorydexterousrobothandhasbecomeoneofthemostpromising researchesinrobotfield.Robothandbodyanditscontrolschemearetwomain aspectsofrobothandresearch,handbodyprovidesoperatingbase,andcontrol schemedecidestomanipulativelevels.Basedonnationalhightechniqueprogram “Robotservicesystemforspacelab-humanoiddexteroushand”,DLR/HIThandon internationaltopisdeveloped.Thedissertationemphasizedonpositioncontroland compliancecontrolofonefingerandcoordinatedfinegraspingmanipulativestrategy of two fingers.DLR/HIThandhasfouridenticalfingersandtotalthirteendegreesoffreedom. Ithasfeaturesofmulti-sensor,modularity,integration,digitalization,reconfigurable palmandsoon.Theamountandtypesofsensorsplayakeyroleinimprovingthe levelsofintelligenceandmanipulation.DLR/HIThandis equipped with force/torque sensors,positionsensorsandtemperaturesensors.Adoptingtheideaofmechatronic integrationandtakingintoaccountdispositionofallmechanicalpart,electricalpart, driverandsensors,DLR/HIThandhasrealizedsystemoptimizationdesign.Asa smallworkablerobotsystem,everymodularfingerisintegratedwithdrivers,sensors andcommunicationsystem. Modularoffingerreducesthedesigncomplexityofthe hand,andenhancesreplacementabilityandmaintainability.BasedonFPAG/DSP system,alldigitallysignalacquisition,highspeedcommunicationsystemandreal timecontrolarerealizedinDLR/HIThandtoensuregoodsignalqualityandenhance reliability.Besidesthehardwarearchitecture,someneededAPIfunctionsandclient interfaceshavebeensupplied,which makeiteasytomanipulateandcontrolthehand foranyonewhohasnoanyideasaboutworkingprinciplesofhardwa