本文選題：多指手 + 逆運(yùn)動(dòng)學(xué)　； 參考：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：本文結(jié)合國(guó)家自然科學(xué)基金項(xiàng)目“仿人多指手的多維指尖力感知和同步控制”(課題編號(hào)51175106),對(duì)仿人多指手的逆運(yùn)動(dòng)學(xué)和協(xié)同運(yùn)動(dòng)控制展開(kāi)了研究。多指手系統(tǒng)的整體性能取決于所有手指以及手指所有關(guān)節(jié)的協(xié)同性能,如果多指手協(xié)同性差,那么系統(tǒng)的整體性能就會(huì)降低。為解決上述問(wèn)題,本文在提出具有耦合關(guān)節(jié)的手指逆運(yùn)動(dòng)學(xué)算法后,研究單手指各關(guān)節(jié)間的同步誤差和指間同步控制方法,并把人手協(xié)同運(yùn)動(dòng)規(guī)律引入控制器的設(shè)計(jì)中,使得多指手達(dá)到協(xié)同運(yùn)動(dòng)的目的。本文首先針對(duì)具有耦合關(guān)節(jié)的手指,提出基于冪級(jí)數(shù)展開(kāi)的逆運(yùn)動(dòng)學(xué)算法,將逆運(yùn)動(dòng)學(xué)中遇到的帶有三角超越函數(shù)的非線性問(wèn)題轉(zhuǎn)化為代數(shù)問(wèn)題。并采用一維線性插值補(bǔ)償誤差,降低了對(duì)非線性耦合關(guān)節(jié)傳動(dòng)比選擇準(zhǔn)確性的要求。然后以HIT/DLR Hand II靈巧手為實(shí)驗(yàn)平臺(tái),分析不同空間軌跡規(guī)劃對(duì)位置控制的影響,研究單手指各關(guān)節(jié)間的同步誤差,引入基于卡爾曼濾波器的自適應(yīng)摩擦力補(bǔ)償方法,實(shí)現(xiàn)自適應(yīng)摩擦力補(bǔ)償。最后提出基于人手協(xié)同運(yùn)動(dòng)規(guī)律的多指手同步控制方法,在規(guī)劃層引入基于人手模塊劃分的關(guān)節(jié)耦合比,在控制層設(shè)計(jì)不僅考慮到各手指關(guān)節(jié)和指尖位置的同步性,還包含人手協(xié)同運(yùn)動(dòng)規(guī)律的指間同步誤差,并通過(guò)阻抗控制實(shí)驗(yàn)表明此方法能夠較好復(fù)現(xiàn)人手典型抓取動(dòng)作,實(shí)現(xiàn)協(xié)同運(yùn)動(dòng)。
[Abstract]:In this paper, the inverse kinematics and cooperative motion control of humanoid multi-fingered hand are studied in combination with the project of National Natural Science Foundation of China "perception and synchronous control of multi-finger-like force of humanoid multi-fingered hand" (subject number 51175106). The overall performance of the multi-fingered hand system depends on the cooperative performance of all fingers and all joints of the fingers. If the multi-fingered hand cooperation is poor, the overall performance of the system will be reduced. In order to solve the above problems, this paper presents an inverse kinematics algorithm of fingers with coupling joints, and studies the synchronization error and synchronization control method between the joints of one hand and fingers, and introduces the law of hand coordination motion into the design of the controller. Make the multi-fingered hand achieve the purpose of cooperative movement. In this paper, an inverse kinematics algorithm based on power series expansion is proposed for fingers with coupling joints. The nonlinear problem with trigonometric transcendental function encountered in inverse kinematics is transformed into an algebraic problem. One dimensional linear interpolation is used to compensate the error, which reduces the accuracy of the selection of the nonlinear coupling joint transmission ratio. Then, on the platform of HIT/DLR Hand II dexterous hand, the influence of different space trajectory planning on position control is analyzed, and the synchronization error between the joints of one hand finger is studied. An adaptive friction compensation method based on Kalman filter is introduced. Adaptive friction compensation is realized. Finally, a multi-fingered hand synchronization control method based on the law of human hand cooperative motion is proposed. The joint coupling ratio based on manual module division is introduced in the planning layer. In the control layer, not only the synchronization of each finger joint and finger tip is considered in the design of the control layer. It also includes the inter-finger synchronization error of the law of human hand cooperative motion, and the impedance control experiment shows that this method can reproduce the typical grasp action of the hand better and realize the cooperative motion.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前7條

1 申浩宇;吳洪濤;陳柏;嚴(yán)鋮;蔣延杰;;冗余度雙臂機(jī)器人協(xié)調(diào)避障算法[J];農(nóng)業(yè)機(jī)械學(xué)報(bào);2015年09期

2 尹遜和;樊雪麗;白霞;張紅;;存在信道噪聲和隨機(jī)丟包的多機(jī)器人協(xié)調(diào)控制[J];電機(jī)與控制學(xué)報(bào);2014年10期

3 陳金寶;韓冬;王小濤;聶宏;;靈巧機(jī)械手多指協(xié)調(diào)控制技術(shù)[J];機(jī)械工程學(xué)報(bào);2014年05期

4 信琴琴;陳志翔;馮曉霞;朱月秀;;基于多線譜驅(qū)動(dòng)的虛擬人手運(yùn)動(dòng)及約束控制[J];計(jì)算機(jī)科學(xué);2014年01期

5 張利霞;袁家政;楊志成;;架空電纜除冰機(jī)器人的設(shè)計(jì)[J];包裝工程;2013年12期

6 陳兆們;金明河;樊紹巍;劉伊威;吳克;姜力;劉宏;;面向任務(wù)的機(jī)器人靈巧手控制系統(tǒng)及多指空間協(xié)調(diào)阻抗控制[J];哈爾濱工程大學(xué)學(xué)報(bào);2012年04期

7 姜力;劉宏;;多指手自主抓取控制的研究[J];自然科學(xué)進(jìn)展;2005年12期

相關(guān)碩士學(xué)位論文 前3條

1 何其佳;基于姿勢(shì)協(xié)同的欠驅(qū)動(dòng)假手研究[D];哈爾濱工業(yè)大學(xué);2016年

2 潘軍;基于交叉耦合策略的多指手控制方法的研究[D];哈爾濱工業(yè)大學(xué);2010年

3 孫金鳳;基于同步控制的多指手操作控制方法的研究[D];哈爾濱工業(yè)大學(xué);2008年

，

本文編號(hào)：1798112