多关节灵巧手混合遥操作控制系统  

Hybrid Teleoperation Control System of Dexterous Finger with Multiple Joints

作　　者：宋小瑛[1,2] 肖金凤[1] 傅舰艇[2] 李耀[2] 

机构地区：[1]南华大学电气工程学院,衡阳421001 [2]中国科学院重庆绿色智能技术研究院,重庆400714

出　　处：《自动化与仪表》2016年第3期17-20,25,共5页Automation & Instrumentation

基　　金：重庆市科技攻关计划项目(Y22Z100K10);湖南省科技厅课题(2013GK3160);重庆市前沿与应用基础研究计划一般项目(cstc2014jcyj A10036)

摘　　要：主从遥操作控制系统的控制策略是实现灵巧手稳定抓持物体的关键。该文提出了一种将关节角度映射和压力控制相结合的多关节灵巧手主从遥操作控制系统混合控制策略。当灵巧手与物体的接触力小于或等于0.28 N时,利用数据手套测量人手的关节角度,进行关节映射实现人手到灵巧手的运动映射;当灵巧手与物体的接触力大于0.28 N时,利用压敏电阻器FSR400进行压力跟随控制,从而实现多关节灵巧手精确遥操作控制。实验验证了该混合控制方法具有控制精度高、实时性好等优点。The control strategy of master slave teleoperation control system is the key to realize the stabilization of the dexterous finger. In this paper,a hybrid control strategy is proposed for the master slave teleoperation control system of multi-joint dexterous finger,which is based on joint angle mapping and pressure control. When the contact force between the dexterous finger and the object is less than 0.28 N,the joint mapping is realized by using the cyber glove to measure the joint angle. When the contact force between them is greater than 0.28 N,then the pressure following control based on varistor FSR400 is used to realize the accurate remote operation control of multi-joint dexterous finger. Experiments show that the hybrid control method has the advantages of high control accuracy,good realtime performance and so on.

关 键 词：混合遥操作控制 数据手套 关节映射 压敏电阻器 灵巧手 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]