Development and experimental evaluation of multi-fingered robot hand with adaptive impedance control for unknown environment grasping

	Development and experimental evaluation of multi-fingered robot hand with adaptive impedance control for unknown environment grasping
	Zhang, Ting; Jiang, Li; Fan, Shaowei; Wu, Xinyu; Feng, Wei
刊名	ROBOTICA
	2016
英文摘要	This paper presents adaptive impedance controllers with adaptive sliding mode friction compensation foranthropomorphic artificial hand. A five-fingered anthropomorphic artificial hand with multisensory and Field-Programmable Gate Arra (FPGA)-based control hardware and software architecture is designed to fulfill the requirements of the grasping force controller. In order to improve the force-tracking precision, the indirectadaptive algorithm was applied to estimate the parameters of the environment. The generalized momentum-based disturbance observer was applied to estimate the contact force from the torque sensor. Based on the sensors of the finger, an adaptive sliding mode friction compensation algorithm was utilized to improve the accuracy of the position control. The performances of the force-tracking impedance controller and position-based joint impedance control for the five-fingered anthropomorphic artificial hand are analyzed and compared in this paper. Furthermore, the performances of the force-tracking impedance controller withenvironmental parameters adaptive estimation and without environmental parameters estimation are analyzed and compared. Experimental results prove that accurate force-tracking and stable torque/force response under uncertain environments of unknown stiffness and position can be achieved with the proposed adaptive force-tracking impedance controller with friction compensation on five-finger artificial hand.
收录类别	SCI
原文出处	http://journals.cambridge.org/action/displayAbstract?fromPage=online&aid=10277261&fileId=S0263574714002161
语种	英语
内容类型	期刊论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/9900]
专题	深圳先进技术研究院_集成所
作者单位	ROBOTICA
推荐引用方式 GB/T 7714	Zhang, Ting,Jiang, Li,Fan, Shaowei,et al. Development and experimental evaluation of multi-fingered robot hand with adaptive impedance control for unknown environment grasping[J]. ROBOTICA,2016.
APA	Zhang, Ting,Jiang, Li,Fan, Shaowei,Wu, Xinyu,&Feng, Wei.(2016).Development and experimental evaluation of multi-fingered robot hand with adaptive impedance control for unknown environment grasping.ROBOTICA.
MLA	Zhang, Ting,et al."Development and experimental evaluation of multi-fingered robot hand with adaptive impedance control for unknown environment grasping".ROBOTICA (2016).