机器人多指手的力规划及其同步协调控制-机械电子工程专业论文.docxVIP

哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 Abstract Robotic system equipped with multi-finger hand has great potential in the field of complicated manipulation tasks. Research on control of multi-finger hand is of great significance to enhance the performance of the entire robotic system. According to the national nature science fund program “Research of the real-time force optimization and independent manipulating control of the multi-finger robot hand” (No., this dissertation studies the control scheme of cross-coupling, impedance force tracking and grasping force optimization of multi-finger hand with purpose to improve manipulation accuracy. Precise manipulation of multi-finger hand is done by fingertips. As a finger is essentially a series robot, motion of fingertip is actually coupled by all finger joints. Therefore, accuracy of fingertip motion is related to each joints accuracy while conventional control scheme ignored this relationship. This dissertation discusses affection to fingertip motion accuracy by different forms of cross-coupling error, synchronizing error among finger joints in the form of percentage is selected to be coupled into finger control loop. System stability will be affected with cross-coupling error introduced, thus a trajectory tracking controller with coupling compensation is designed, and the controller is proved to be stable. Experiments are demonstrated to test the controller and to analyze the affection of coupling parameter on fingertip motion accuracy and joints synchronizing errors. Multi-finger hand applies force to operation object during process of manipulation, and impact may occur when finger transits from free space to constrained space. To solve this problem, this dissertation studies control scheme of impedance force tracking in Cartesian space. Cartesian impedance is converted to equal joint impedance so that Cartesian impedance control can be achieved in joint space. To achieve precise force control, an indirect adapti