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Multi-fingered dexterous hand admittance control method based on extended state observer

A technology of expansion state and control method, which is applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve the problems of complex mechanism design and high manufacturing cost, and achieve the effects of stable grasping, design complexity reduction and force control cost

Pending Publication Date: 2021-08-31
BEIHANG UNIV
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Problems solved by technology

[0006] The purpose of the present invention is to solve the problems of complicated mechanism design and high manufacturing cost in the existing dexterous hand force detection process, to provide a grasping force estimation method based on the extended state observer, and to use the admittance control method to realize the suppleness of the dexterous hand operation, so as to achieve stable grasping of objects by dexterous hands without force sensors

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  • Multi-fingered dexterous hand admittance control method based on extended state observer
  • Multi-fingered dexterous hand admittance control method based on extended state observer
  • Multi-fingered dexterous hand admittance control method based on extended state observer

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Embodiment Construction

[0041] The present invention will be further described below in conjunction with the accompanying drawings.

[0042] Embodiments of the present disclosure are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the contents disclosed in this specification. Apparently, the described embodiments are only some of the embodiments of the present disclosure, not all of them. The present disclosure can also be implemented or applied through different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that, in the case of no conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in the present disclosure, all other embodimen...

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Abstract

The invention discloses a multi-fingered dexterous hand admittance control method based on an expansion state observer. The method specifically comprises the following steps of regarding the connecting rod dynamics and friction part of a dexterous hand as interference, carrying out the real-time estimation of the interference through an expansion state observer in a free motion state of the dexterous hand, and building a dexterous hand interference model query table, and obtaining interference torques corresponding to different speeds and angles in the free state of the dexterous hand; comparing the interference torque difference value when the dexterous hand grabs an object with the interference torque difference value when the dexterous hand freely moves, and calculating the corresponding contact torque; and realizing the dexterous hand stably grabbing the object by controlling the dynamic relation between the dynamic adjusting force and the position through admittance. According to the multi-fingered dexterous hand admittance control method based on the extended state observer, the external contact force can be accurately detected without a force / sensor, the real-time performance is good, the sensitivity is high, and the manufacturing period and cost of the dexterous hand are greatly reduced.

Description

technical field [0001] The present invention relates to the technical field of robot control, and more particularly, relates to a multi-finger dexterous hand admittance control method based on an extended state observer. Background technique [0002] The compliance control methods currently applied to dexterous hands are mainly force / position hybrid control and impedance control. [0003] The force / position hybrid control method divides the control of position and force in different subspaces. When the dexterous hand is not in contact with the environment, it performs position servo control; when the dexterous hand is in contact with the environment, it switches to the force control mode. This type of control can only control movement or force alone. However, this method ignores the dynamic coupling relationship between the robot and the environment, so it cannot accurately control the position or force. [0004] Impedance control is improved from force / position hybrid con...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1612
Inventor 战强田新扬
Owner BEIHANG UNIV
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