机器人灵巧手柔性关节自适应阻抗控制  

Adaptive impedance control for dexterous robot hand with elastic joint

作　　者：樊绍巍[1] 宗华[2] 邱景辉[2] 陈兆芃 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150001 [2]哈尔滨工业大学电子与信息工程学院,黑龙江哈尔滨150001 [3]德国宇航中心机器人与系统动力学研究所,慕尼黑韦斯林82230

出　　处：《电机与控制学报》2012年第12期78-86,共9页Electric Machines and Control

基　　金：国家自然科学基金(61203346);黑龙江省博士后基金(LBH-Z11124);中央高校基本科研业务费专项基金(HIT.NSRIF.2010093)

摘　　要：针对具有柔性关节的HIT/DLR Ⅱ五指仿人机器人灵巧手,研究了基于关节力矩反馈和非线性补偿的关节空间和笛卡尔空间阻抗控制。通过建立柔性关节机器人灵巧手的控制模型,在HIT/DLR Ⅱ型灵巧手上实现基于无源性控制的柔性关节机器人阻抗控制策略。针对非线性摩擦力和重力对灵巧手阻抗控制的影响,基于扩展卡尔曼滤波器提出了自适应摩擦力观测器,实现了具有摩擦力补偿和基于最小二乘法优化重力补偿的机器人灵巧手自适应阻抗控制。实验结果表明,在具有谐波减速器等柔性环节的机器人灵巧手中,所提出的自适应阻抗控制器提高了位置控制的精确度,并获得了稳定的抓取力。This paper present recent results on the joint and Cartesian space impedance control for five- finger dexterous robot hand DLR-HIT II with elastic joints, based on joint torque feedback and nonlineari- ty compensation. Passivity based control strategy was implemented on HIT/DLR II dexterous robot hand, with modeling of the elastic joint on the robot hand. To improve the performance of the impedance con- troller, adaptive friction estimation with extended Kalman filter and gravity compensation based on Least Squares have been investigated on the robot hand. Experimental results show that, for the harmonic drive robot hand with joint torque feedback, accurate position tracking and stable torque/force response can be achieved with Cartesian and joint impedance controller with adaptive friction compensation.

关 键 词：机器人灵巧手 阻抗控制 摩擦力观测器 卡尔曼滤波器 柔性关节 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]