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

fYear

2010

fDate

18-22 Oct. 2010

Firstpage

5867

Lastpage

5874

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on

Conference_Location

Taipei

ISSN

2153-0858

Print_ISBN

978-1-4244-6674-0

Type

conf

DOI

10.1109/IROS.2010.5649356

Filename

5649356