机器人多指操作的递阶控制  

HIERARCHICAL CONTROL OF ROBOT MULTI\| FINGERED MANIPULATION

作　　者：熊有伦[1] 李泽湘[2] 

机构地区：[1]华中理工大学机械学院,武汉430074 [2]香港科技大学电机与电子工程系

出　　处：《自动化学报》1999年第5期590-597,共8页Acta Automatica Sinica

基　　金：国家自然科学基金;博士点专项基金;香港科技大学685/95E资助项目

摘　　要：为机器人多指协调操作建立一递阶控制系统．给定一操作任务，任务规划器首先生成一系列物体的运动速度；然后，协调运动规划器根据期望的物体运动速度生成期望的手指运动速度和期望的抓取姿态变化；同时，抓取力规划器为平衡作用在物体上的外力，根据当前的抓取姿态，生成各手指所需的抓取力；最后，系统将手指的期望运动速度与为实现期望抓取力而生成的顺应速度合并，并通过手指的逆雅可比转化为手指关节运动速度后，由手指的关节级运动控制器实现手指的运动和抓取力的控制．该控制方法已成功应用于香港科技大学（ＨＫＵＳＴ）灵巧手控制系统的开发．实验证明该方法不仅能完成物体轨迹的跟踪控制任务，而且能完成物体对环境的力控制和力与速度的混合控制．This paper presents a hierarchical control system for robot multifingered coordinate manipulation. Given a manipulation,the task planner generates a sequence of object's motion velocities at first,and then generates for coordinate motion the desired velocities of finger's motion and desired orientation change of the grasped object according to the desired velocities of object's motion.At the same time,the force planner generates the grasp forces on the fingers in order to resist the external forces on the object,according to the grasp posture.Finally,the system generates a result compliance velocity from both the desired finger's velocities and desired grasp forces,and transfers it into joint velocites through the finger's inverse Jacobian.Then the controller of joint motion implements the control of both forces and velocities for the fingers.The approach has been applied to the development of control system HKUST dexterous hand successfully.Experiment results show that it is not only possible to trail and control the object's track,but also possible to realize force control and the hybrid control of both forces and velocities through this method.

关 键 词：机器人 多指手 递阶控制 运动规划 抓取力优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]