The Study Of Force Control Of Gripper System Based On HSIC

The gripper is the end-effector of the robot when it grab objects, has a wide rangeof applications in all areas of society, the gripper system is involved in the sensor signalintegration, processing, mechanical design, computer control, multi-disciplinaryknowledge. Gripping force as the contact force between the robots and the graspedobject is an important indicator of robot grab objects safely or not, how to control thegripping force quickly and efficiently has been the research focus of today’s world. Thegripping force control has two important issues need to be resolved, one is the problemof force detection, it can be quickly and accurately detected or not is directly related tothe effect of gripping objects; another is the problem of control algorithm,it directlyrelated to the performance of the gripper system, how fast, stable control of grippingforce has been the study difficulty of force control of gripper.For the above problem, a gripper system for force control has been built in thispaper,the following work has been completed.First of all, Against the problem of Strong interference of force detection of grippersystem, a method of detection and processing of signal by mixed filtering based on DSPis proposed.The signal processing and sampling circuit cosisit of a bridge constituted withsemiconductor strain gauges as the sensor, a3-order Chebyshev active hardware filterand the DSP chip which is used to sample the singal. In addition, mixing the limitingdebounce filter and Butterworth low-pass filter on the software is used to process thesampling data.The proposed method is applied to the actual system, the effectivenessof.this method is verified.Secondly, Modeling the whole loop grade state-space model with saturationnonlinearity of the force Closed-loop control system.Analyzes every subsystem based on force feedback gripper system.Establishmathematical model of every subsystem including position/force conversion subsystem,detection subsystem, motor and drive subsystem and control subsystem, founding thewhole loop grade state-space model with saturation nonlinearity. By using the actualresponse of the system, and through the least squares method and geneticalgorithm,getting the parameters of the nonlinear model. By comparing among theactual system, the simulation system based on simplified second order linear model and the response of the simulation system presented in this paper, confirming theeffectiveness of the tuning method of the model and its parameters.Finally, the controller of Gripping force based on Human-Simulated IntelligentControl (HSIC) is designed.Tuning the controller parameters by using the gripper force control system modelobtained first and the genetic algorithm, By comparing the algorithm simulation withthe actual results, the effectiveness of this proposed method is verified.