Method of adaptive gripper drive control signal formation

Abstract

Anthropomorphic gripper is basic component of anthropomorphic robots determining its functionality. Structural scheme provides reliable interaction with nondeterminate external objects. Each actuating system has three output links realizing three degrees of freedom. Movement through individual motors increases gripper dimensions. It determined designing of new type grippers with group drive in actuating system. Interaction between actuating system and external objects realizes in two stages: grasping and holding. In grasping the links execute motions consequently from proximal to distal, output parameters are angles of their relative rotation. Control is performed according to open circuit. actuating system can grasp external objects in nine ways. In holding the output parameter is a force created by the last link got in touch with external objects. Formation of control signal for closed loop control realization includes: registration of links rotation angles, revelation of output link, formalization of calculated parameters. Then the second stage actions are performed: calculation of reduced moment according to required force on output link, control of moment on motor providing minimization of noncoincidence between actual and indicated value. The first stage operations are common for all anthropomorphic robots constructions. Calculated correspondences of the second stage are determined by individual characteristics of applied motion transmission system.