Research On Control System Of Pneumatic Rigid-Flexible Joint Based On FPA

As an important component, pneumatic joints provide guiding accuracy for pneumatic multi-finger hand, multi-fingered dexterous hand's scope of application is directly affected by control system. Now, there is little research on the control system of pneumatic joints and no mature industrialized products, dexterous hand's joints and controllers in the development rely on imported, high price is not suitable for the application of dexterous hand, therefore, the development of pneumatic joint control system is very necessary.Pneumatic rigid and flexible bend joint in muli-fingered dexterous hand developed by our laboratory is used for the subject of control objectives and under existing joint control system has inadequates of huge structure, expensive, poor compatibility, focused on the control system of Pneumatic joint. The system uses joint motion cantroller based on microprocessor, high-perfotmance digital signal processor dsPIC30F5013 as the core, and the system communicates with a CAN-Bus, so simplifies structure and ensures control precision, while has good real-time and compatibility. The major work and result show as follows:(1) Introduced the structural system of the system control object pneumatic joint based on FPA, and the application of pneumatic rigid-flexible joints in dexterous hand, according to slack in the joint and non-linear in pneumatic systems, design Fuzzy-PID position control algorithm for pneumatic rigid-flexible bending joints's closed-loop control.(2) According to the solutions of FPA-based pneumatic rigid and flexible joints control system, designs the hardware of control system and PCB circuit board, build a general framework for system applications, and develop PC control interface software and slave driver software by the method of modular programming, write the source code for control system.(3) After complete the design of control system, build a test platform for researching the static position control, the dynamic control and output torque of pneumatic Rigid and flexible bending joint. The results show that: using control system in this thesis , the deviation of control accuracy are between±0.16°in the bending joint position static control, the maximum steady-state error are 0.24°in the dynamic tracking control and the maximum steady-state response time is 0.8s in different control states. Verify the Fuzzy-PID control algorithm can be applied effectively in the system.The control system of pneumatic rigid-flexible joint based on FPA has fast response, can control joint's output force/torque, and ensure precision. Compared to the original joint control system based on the control board, this control system in this thesis has the feature of miniaturization,integration, compatibility, low cost, and can control the joint well, meet the application requiements of pneumatic multi-fingered dexterous hand, lay the foundation for developing ZJUT multi-fingered dexterous hand control system with independent intellectual property rights.