基于孔-腱近似模型的拟人灵巧手自适应运动控制  

Hole-tendon-approximation-model based adaptive control for humanoid dexterous hand movements

作　　者：刘前前 封岸松 Liu Qianqian;Feng Ansong(School of Information Engineering,Shenyang University of Chemical Technology,Shenyang 110142,China;Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China)

机构地区：[1]沈阳化工大学信息工程学院,沈阳110142 [2]中国科学院沈阳自动化研究所,沈阳110017

出　　处：《国外电子测量技术》2023年第8期162-168,共7页Foreign Electronic Measurement Technology

基　　金：国家自然科学基金重大研发计划(92048203);中国博士后科学基金(2020M670815);辽宁省自然科学基金(2021-MS-032);辽宁省教育厅2021年度科学研究经费项目(LJKZ0448);之江实验室科研攻关项目(2022NB0A01)资助。

摘　　要：腱绳驱动的拟人灵巧手执行操作任务和控制都是直接由腱的长度来决定,针对驱动腱长度变化和张力之间的控制提出了一种基于孔-腱近似模型(hole-tendon-approximation-model,HTAM)的拟人灵巧手模型参考自适应控制器。针对深度拟人化具有滚转关节的腱驱动拟人灵巧手通过HTAM模型建立精确的手指运动学模型,并由驱动腱的长度和速度计算出张力和驱动状态,采用HTAM模型参考控制器进行控制,解决手指模型自由度冗余、运动学模型不准确和腱张力不同导致的控制精度不高,响应迟滞问题,并设计了多种抓取手势来验证拟提的运动学建模方法和控制算法,对于单指的控制在受到冲击后位置误差仍保持在0.198 mm以内,由抓取实验证明了所提控制器的实时性能和位置跟踪的准确性。The dexterous humanoid hand driven by tendon ropes performs operation tasks and control that are directly determined by the length of the tendons.To control changes in tendon length and tension,we propose a reference adaptive controller for the dexterous humanoid hand model based on the hole-tendon-approximation-model(HTAM).The tendon-driven dexterous humanoid hand,which has rolling joints,uses the HTAM model to establish a precise finger kinematic model and calculates the tension and driving state using the driving tendon's length and velocity.The HTAM model reference controller is employed to control the model and solve the problems caused by redundant finger model degree of freedom,inaccurate kinematic model,and different tendon tensions,which result in low control accuracy and delayed response.We also design various grasping tests to verify the proposed kinematic modeling method and control algorithm.The control of a single finger maintains its position error within O.198 mm after impact,which confirms the real-time response and accuracy of the proposed controller.

关 键 词：机器人灵巧手 腱驱动 腱张力 模型控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]