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氣動(dòng)柔性靈巧手輸出力控制技術(shù)
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國(guó)家高技術(shù)研究發(fā)展計(jì)劃（863計(jì)劃）資助項(xiàng)目（2009AA04Z209）、國(guó)家自然科學(xué)基金資助項(xiàng)目（51075363）,、中國(guó)博士后科學(xué)基金資助項(xiàng)目（2012M511385）和浙江省自然科學(xué)基金杰出青年團(tuán)隊(duì)資助項(xiàng)目（R1090674）


Output Force Control of Pneumatic Flexible Dexterous Hand
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    摘要:

    闡述了一種氣動(dòng)柔性驅(qū)動(dòng)器（FPA）,，及采用FPA驅(qū)動(dòng)的氣動(dòng)柔性靈巧手（ZJUT Hand）,。以ZJUT Hand為研究對(duì)象,，基于微分運(yùn)動(dòng)學(xué)理論,，建立其手指的靜力學(xué)模型,，完成了手指靜力跟蹤的半閉環(huán)控制實(shí)驗(yàn),，驗(yàn)證了ZJUT Hand手指便于控制輸出力的特點(diǎn),；基于指尖五維力傳感器,，提出了一種模糊自適應(yīng)指尖力動(dòng)態(tài)跟蹤控制策略，完成了手指指尖力動(dòng)態(tài)跟蹤實(shí)驗(yàn),，結(jié)果表明：該控制策略能夠在未知環(huán)境下,，實(shí)現(xiàn)對(duì)手指指尖力快速、精確的動(dòng)態(tài)跟蹤,，響應(yīng)時(shí)間約為1 s,，跟蹤誤差穩(wěn)定在±0.15 N內(nèi)。

    Abstract:

    A kind of flexible pneumatic actuator (FPA) was introduced, and a new type of FPA-driven pneumatic flexible dexterous hand, named ZJUT Hand, was also proposed. Taking ZJUT Hand as the research object, the static model of the finger was established based on differential kinematics theory. Semi-closed loop control experiments for static force tracking of the finger were carried out. It was concluded from experimental results that fingertip output force could be controlled easily. Based on 5-component force/torque sensor installed on the fingertip, a control strategy for dynamic adaptive fuzzy fingertip force tracking was proposed. Experiments of dynamic fingertip force tracking were completed. Experimental results show that the control strategy can realize fast and accurate dynamic fingertip force tracking under an unknown environment. The response time is 1 s. The force tracking error is within ±0.15 N. 

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王志恒,楊慶華,錢(qián)少明,鮑官軍,張立彬.氣動(dòng)柔性靈巧手輸出力控制技術(shù)[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2012,43(10):207-214. Wang Zhiheng, Yang Qinghua, Qian Shaoming, Bao Guanjun, Zhang Libin. Output Force Control of Pneumatic Flexible Dexterous Hand[J]. Transactions of the Chinese Society for Agricultural Machinery,2012,43(10):207-214.

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  • 在線發(fā)布日期: 2012-10-19
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