CAJ | 학술논문

针对多传感器、多自由度机器人灵巧手,开发了基于DSP＆FPGA的多层控制系统.将手指驱动控制系统和传感器系统集成在手指内部,使得与人手尺寸和活动性相似的DLR/HIT II五指机器人灵巧手得以实现.对于手指基关节差分齿轮的运动协调问题,设计了包含速度和加速度前馈项、同步误差和位置误差反馈项以及平滑鲁棒非线性反馈补偿项的交叉耦合同步控制器,该控制器不需要精确的动力学模型.经与传统的非同步控制PD加摩擦力补偿控制和轨迹跟踪控制对比,实验验证了所设计的控制系统及交叉耦合同步控制器的有效性.
침대다전감기、다자유도궤기인령교수,개발료기우DSP＆FPGA적다층공제계통.장수지구동공제계통화전감기계통집성재수지내부,사득여인수척촌화활동성상사적DLR/HIT II오지궤기인령교수득이실현.대우수지기관절차분치륜적운동협조문제,설계료포함속도화가속도전궤항、동보오차화위치오차반궤항이급평활로봉비선성반궤보상항적교차우합동보공제기,해공제기불수요정학적동역학모형.경여전통적비동보공제PD가마찰력보상공제화궤적근종공제대비,실험험증료소설계적공제계통급교차우합동보공제기적유효성.
A DSP＆FPGA-based multilevel control system was developed for multi-sensory and multi-DOF dexterous robot hand, in which the drive, control and sensor systems were integrated in the finger. So the five-finger DLR/HIT II dexterous robot hand that resembled the human hand regarding size and movability was realized. A synchronized cross-coupled controller for base joint of dexterous robot hand was designed, including feedforwards of velocity and acceleration, feedbacks of synchronous errors and position errors, and a smooth robust nonlinear feedback compensator. The controller did not require the explicit use of the system dynamic model. Compared with conventional non-synchronized PD friction compensation and trajectory tracking control, experimental results demonstrate the validity of the designed control system and synchronized cross-coupled controller.