Abstract
An adaptive impedance control algorithm for tendon-driven dexterous hands is presented. The main idea of this algorithm is to compensate the output of the classical impedance control by an offset that is a proportion-integration-differentiation (PID) expression of force error. The adaptive impedance control can adjust the impedance parameters indirectly when the environment position and stiffness are uncertain. In addition, the position controller and inverse kinematics solver are specially designed for the tendon-driven hand. The performance of the proposed control algorithm is validated by using MATLAB and ADAMS software for joint simulation. ADAMS is a great software for virtual prototype analysis. A tendon-driven hand model is built and a control module is generated in ADAMS. Then the control system is built in MATLAB using the control module. The joint simulation results demonstrate fast response and robustness of the algorithm when the environment is not exactly known, so the algorithm is suitable for the control of tendon-driven dexterous hands.
Highlights
The control system of dexterous robot hands can control the robot fingers to reach the desired position, contact with the environment and track a specified desired force
Thereinto, stable force tracking is an important research topic, which can be solved by compliance control
Sensors 2014, 14 control is very practical in the field of robotic compliance control and the main concept is based on the impedance equation which is the relationship between force and position/velocity error [1]
Summary
The control system of dexterous robot hands can control the robot fingers to reach the desired position, contact with the environment and track a specified desired force. The classical impedance control is unsatisfying when the environment parameters are not exactly known To overcome this problem, Lasky et al [6] proposed a two-loop control system that the inner-loop is a classical impedance controller and the outer-loop is a trajectory modified for force-tracking. Lasky et al [6] proposed a two-loop control system that the inner-loop is a classical impedance controller and the outer-loop is a trajectory modified for force-tracking This algorithm uses the outer-loop to automatically modify the reference position by a simple force-feedback scheme when the environment is not exactly known. In this paper an adaptive impedance control is proposed that uses an adaptive PID force compensator as an offset to adjust the output of the impedance controller when the environment position or stiffness is changed. The position controller and inverse kinematics solver are designed for the tendon-driven finger
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