腱驱动空间五指灵巧手控制系统研究
腱驱动空间五指灵巧手控制系统研究韩 冬 1,2，聂 宏 1，陈金宝 1，颜文彧 1，王小涛 1
（1.南京航空航天大学机械结构力学及控制国家重点实验室，江苏 南京 210016； 2. 上海宇航系统工程研究所，上海 201108）
摘 要：以适用于空间在轨服务的腱驱动五指灵巧手为研究对象，设计具有一定实时性的控制系统．为满足腱驱动灵巧手多指操作对同步性和实时性的特殊要求，提出基于 RTX（real time extension）共享内存的模块化软件架构，可集成人机交互、虚拟显示、遥操作以及数据传输等模块，具有扩展性好、结构清晰、传输效率高的优点．针对腱驱动耦合的问题，提出关节空间到腱空间的解耦矩阵，并据此给出实时多指协调运动控制方法，以确保各手指同时到达期望位置，减小腱驱动迟滞造成的不利影响．最后通过多指灵巧抓取以及遥操作实验，验证所提控制系统的稳定性、可靠性．
关键词：在轨服务；五指灵巧手；共享内存；多指协调
中图分类号：TP241 文献标识码：A 文章编号：1002-0446(2016)-02-0129-06
The Control System of the Tendon-Driven Space Five-fingered Dexterous Hand
HAN Dong1,2，NIE Hong1，CHEN Jinbao1，YAN Wenyu1，WANG Xiaotao1
(1. State Key Laboratory of Mechanics and Control of Mechanical Structures,Nanjing University of Aeronautics and Astronautics,Nanjing 210016, China;
2. Aerospace System Engineering Shanghai, Shanghai 201108,China)
Abstract: A real-time control system is designed for a tendon-driven five-fingered dexterous hand for on-orbit service.In order to satisfy the special requirements for synchronism and real-timeness of multi-finger operation for tendon-driven hand, a modular oftware architecture based on RTX (real time extension) shared memory is proposed, which can integrate man-machine interface, virtual display, tele-operation and data transmission. This software architecture has virtues of good scalability, clear structure and high transmission efficiency. The decoupling matrixes from joint-space to tendon-space are presented to solve the problem of tendon-driven coupling, and they are used for the real-time coordinated motion control of multiple fingers to ensure the fingers simultaneously reach the desired positions and decrease the negative effects of tendon-driven delay. Finally, the proposed control system is proven to be stable and reliable by the experiments of multi-finger dexterous grasp and tele-operation.
Keywords: on-orbit service; five-fingered dexterous hand; shared memory; multi-finger coordination
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