Study Of Master-Slave Control Based On HIT/DLR Force Feedback Glove And Dexterous Hand

Teleoperation is an effective way to control dexterous hand which has many good characteristics like multied-degrees of freedom and finger coordinated manipulation, that can improve the ability of the dexterous hand manipulation. Force feedback glove or some other force feedback devices are the ideal interaction device to achieve the human-machine, which is a key technology field in teleoperating control system. In this paper a new kind of force feedback glove was developed and a master-slave teleoperating system is established based on the force feedback glove and HIT/DLR II hand. And it is part of 863 subjects"a new generation of humanoid five fingers robot hand and its coordinated control". Besides, some control methods about the two hands'are also researched.Firstly, a new force feedback glove system is set up, for the current disadvantages of force feedback gloves. Then embedded bottom floor controller and multi-sensor system are designed based on FPGA, combined with modularization, integrated and intelligent design thinking. Take the DSP/FPGA control panel based on PCI bus as the upper controller to realize the trajectory planning and complex control algorithms, etc. Adopt the LVDS-based PPSeCo communication technology to realize the real time control for the force feedback glove.In this paper the force feedback glove and the HIT/DLR II hand kinematic model and dynamic model are conducted and joint space and Cartesian space position motion mapping is analyzed. The motion mapping between the master and slave hand by the parameters identification based on linear-curve fit and table-search method is constructed.Considering the advantages of the sliding model control algorithm, sliding model position controllers for the two hands is designed. The human-machine position and force control are accomplished combined with the designed position and force sensors. Though comparing the characteristic of the compliance control methods, impedance Control is chosen to ensure the stability when the dexterous hand contacts the environment.The force/position dual-channel control system is employed to implement master-slave control in this thesis. The slave hand in freedom space and constrained space control is successfully completed, based on which force-sense teleprsence is acquired. The ocal autonomous grasp strategy is employed, in order to finish dexterous hand's grasp based on the master-slave teleoperation system steadily. The experimental results show that control strategy is effective and feasible.