Title :
Experimental study on impedance control for the five-finger dexterous robot hand DLR-HIT II
Author :
Chen, Zhaopeng ; Lii, Neal Y. ; Wimboeck, Thomas ; Fan, Shaowei ; Jin, Minghe ; Borst, Christoph H. ; Liu, Hong
Author_Institution :
German Aerosp. Center, Inst. of Robot. & Mechatron., Wessling, Germany
Abstract :
This paper presents experimental results on the five-finger dexterous robot hand DLR-HIT II, with Cartesian impedance control based on joint torque and nonlinearity compensation for elastic dexterous robot joints. To improve the performance of the impedance controller, system parameter estimations with extended kalman filter and gravity compensation have been investigated on the robot hand. Experimental results show that, for the harmonic drive robot hand with joint toruqe feedback, accurate position tracking and stable torque/force response can be achieved with cartesian and joint impedance controller. In addition, a FPGA-based control architecture with flexible communication is proposed to perform the designed impedance controller.
Keywords :
Kalman filters; compensation; control nonlinearities; control system synthesis; dexterous manipulators; feedback; field programmable gate arrays; parameter estimation; position control; torque control; Cartesian impedance control; FPGA-based control architecture; accurate position tracking; elastic dexterous robot joints; extended Kalman filter; five-finger dexterous robot hand DLR-HIT II; gravity compensation; harmonic drive robot hand; joint torque feedback; nonlinearity compensation; performance improvement; stable force response; stable torque response; system parameter estimations;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-6674-0
DOI :
10.1109/IROS.2010.5649356
