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The control of tendon-driven dexterous hands with joint simulation.
1College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China. chenjbao@nuaa.edu.cn.
Sensors (Basel, Switzerland)
|January 23, 2014
Summary
This study introduces an adaptive impedance control for tendon-driven hands, using PID force error compensation for robust performance. The algorithm adjusts impedance parameters, proving effective even with unknown environmental conditions.
Area of Science:
- Robotics
- Control Systems Engineering
- Mechanical Engineering
Background:
- Tendon-driven dexterous hands require sophisticated control for effective interaction with uncertain environments.
- Classical impedance control methods may struggle with unknown environmental parameters like stiffness and position.
Purpose of the Study:
- To develop and validate an adaptive impedance control algorithm for tendon-driven dexterous hands.
- To enhance robustness and adaptability in robotic hand control when interacting with unknown environments.
Main Methods:
- An adaptive impedance control algorithm was designed, incorporating a proportion-integration-differentiation (PID) controller for force error compensation.
- A specialized position controller and inverse kinematics solver were developed for the tendon-driven hand.
- Joint simulations were performed using MATLAB and ADAMS software, integrating a virtual prototype of the hand.
Main Results:
- The adaptive impedance control algorithm demonstrated fast response times.
- The algorithm exhibited robustness when operating in environments with uncertain properties (position and stiffness).
- Simulation results validated the algorithm's suitability for controlling tendon-driven dexterous hands.
Conclusions:
- The proposed adaptive impedance control algorithm effectively manages uncertainties in environmental interaction for tendon-driven hands.
- The integration of PID force error compensation enhances control performance and adaptability.
- The validated algorithm offers a promising solution for advanced robotic hand control applications.
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