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气动柔性灵巧手输出力控制技术

DOI: 10.6041/j.issn.1000-1298.2012.10.037, PP. 207-214

Keywords: 气动柔性灵巧手,气动柔性驱动器,手指静力模型,模糊手指力,跟踪控制

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Abstract:

阐述了一种气动柔性驱动器(FPA),及采用FPA驱动的气动柔性灵巧手(ZJUTHand)。以ZJUTHand为研究对象,基于微分运动学理论,建立其手指的静力学模型,完成了手指静力跟踪的半闭环控制实验,验证了ZJUTHand手指便于控制输出力的特点;基于指尖五维力传感器,提出了一种模糊自适应指尖力动态跟踪控制策略,完成了手指指尖力动态跟踪实验,结果表明:该控制策略能够在未知环境下,实现对手指指尖力快速、精确的动态跟踪,响应时间约为1s,跟踪误差稳定在±0.15N内。

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