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
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
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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
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 software 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.
Key words： on-orbit service five-fingered dexterous hand shared memory multi-finger coordination
收稿日期: 2015-12-27
1:TP241
基金资助:中央高校基本科研业务费专项资金（NS2015085）
通讯作者: 韩冬，han_dongnuaa@126.com E-mail: han_dongnuaa@126.com
作者简介: 韩冬（1989-），男，博士生.研究领域：机器人智能控制，开源机器人操作系统.
聂宏（1960-），男，博士，教授，博士生导师.研究领域：飞行器起落装置设计，结构动力学与控制等.
陈金宝（1980-），男，博士，副教授.研究领域：航天器着陆缓冲系统设计，航天器结构动力学，空间在轨服务机器人设计等.
引用本文:
韩冬, 聂宏, 陈金宝, 颜文彧, 王小涛. 腱驱动空间五指灵巧手控制系统研究. 机器人, 2016, 38(2): 129-134.
HAN Dong, NIE Hong, CHEN Jinbao, YAN Wenyu, WANG Xiaotao. The Control System of the Tendon-Driven Space Five-fingered Dexterous Hand. ROBOT, 2016, 38(2): 129-134.
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