机器人多指手的位置一力混合控制

基金项目:

国家“863”基金资助课题

详细信息

Intelligent Control of Multi-fingered Robot Hand

摘要: 分析了一类机器人多指手的动力学模型的特点,针对这类机器人多指手在运动和抓握2个过程中动力学特性有根大差异的特点,提出了1种切实可行的位置-力混合控制方案,并成功的应用于北京科技大学双拇指手控制系统。
- 机器人多指手 /
- 控制系统 /
- 位置─力混合控制
Abstract: The dynamics properties of a kind of multi-fingered robot hand is analyzed.It is pointed out that the dynamics property of this kind of multi-fingered robot hand in the approaching process is quite different from that in the grasping process and, different control algorithm should be taken in the two process. A position-force hybrid control algo-rithm is proposed which is applied to the control system of the University of Science and Technology Beijing double-thumb robot hand successfully.
- multi-fingered robot hand /
- control system /
- position-force hybrid control