Humanoid Multi-fingered Dexterous Hand Grasping Control System And Compliance Control Strategy Research

With the increasing level of automation, the robot technology is used more andmore widely, and the flexibility and compliance of end-effector reflects the level of itsautomation mostly.Through the research on domestic and foreign dexterous handcontrol application，hierarchical structure are used for the humanoid multi-fingereddexterous hand grasping control system, at the same time impedance control strategy toachieve compliance control for dexterous hand are adopted in this paper. This paperstudied on the humanoid multi-fingered dexterous hand grasping control system and thecompliance control strategy is practical.First through the system control modes are analyzed, the humanoid multi-fingereddexterous hand system adopts hierarchical control scheme is proposed in this paper. Thefirst stage is the control layer，it is based on the C8051F040single-chip microcomputercontroller for a single finger, acquisition and processing the data which come fromdexterous hand single finger joint angles and fingertip force sensors. Second stage iscoordination layer，it completes the dexterous finger coordination of movements, usingLF2407A DSP processing the data information come from finger controller whichtransfer through CAN communication bus. Through the impedance control algorithm,the controller completes each finger load distribution and position control. Third stage isplanning layer, it completes the grasp planning of dexterous robotic hands. In this paper,it designed man-machine interface for control of dexterous hands using C++Builder6.0software to dynamic display each joint angle values of different fingers andfingertip force curve, and through grasping planning algorithm transfer the plan positionand force information to coordination layer by the serial communication bus.The second,pneumatic drive system is designed for humanoid multi-fingereddexterous hand, using homemade artificial muscles drive the different fingers of eachjoint angle movement; The designment of the single finger control system’s and the DSPcontrol system’s hardware circuits are completed by the circuit design software of Altium Designer6.9.Finally, the fingers of the impedance model is established and is simulated for thesystem tracking performance about the given position and force in the MATLAB/Simulink system design tools. The flexible control is achieved by the impedance controlstrategy based on the position, the control programs are written under the integrateddevelopment environment of Silicon Laboratories IDE, and then the design and theflexible control of the grasping control system of the humanoid multi-fingereddexterous hand is realized by the pneumatic drive system and debugging the hardwarecircuit and the software, which validate the impedance control algorithm.