| At present, the quantity of disabled person in our country already achieved morethan eighty million; the physical disabilities occupied nearly30%in total. The relatedartificial limbs have been demanding increasingly urgent. The related research of theartificial limb can give the disabled person’s life enormous convenience and betterintegration into society, so these researches have vital realistic significance. In thisarticle, the first step is developing the virtual prototyping model of the bionic handwhich can complete some simple movements and obtains the related parameterinformation. Then according to these parameter information, we can establish thedynamic equation of bionic hand’s index finger，after the simulation validation,according to the given expectation path and the designed motion control algorithm,it can make the fingers of the bionic hand tracking on expectation path with certainprecision and speed, so achieving the good control effect.This study of the article has obtained the funding of those projects;The development of science and technology plan projects of Jilin province（20090350）; Jilin University "985" project engineering bionic technologyinnovation platform project; Dr universities special research funds of institutions ofhigher learning （20100061110029）; And the Dr. Jilin University graduateinterdisciplinary research funding program （2011J009）.The study article mainly contains following four aspects:(1) Through the biology of hands, the analysis of structure elements and so on,determining the general characteristic of the bionic hands model in preliminary. Andthen using the ADAMS dynamics modeling software to develop the virtualgeometrical model of bionic hand; adding the necessary constraint, and giving eachjoint exert torque. Through the simulation results proving the reasonable type of themodel and each joint angle can meet the requirements of the design in advance.(2) Through seeking the connecting rod transformation matrix of bionic hand’sfingers，derived the false inertia matrix calculation formula of every connecting rod，then using the related parameters of geometrical model of the bionic hand’s index finger which are in chapter2, then applying the symbols computing mathematicssoftware with the name of MAPLE to calculate concrete expression of the dynamicequation of Lagrange of the bionic hand’s index finger; Finally, using the ADMASand MATLAB to do simulation verified. The result of simulation will indicate thatestablishment of dynamic equation of Lagrange of the bionic hand’s index finger iscorrect.(3) On the base of the earlier research work, doing work on the trajectory trackingcontrol of index finger. Firstly analyzing the characteristics of the bionic handsmotion control, as well as the requirements of control performance. Selecting theIterative learning control arithmetic, and then briefly introduced the basic principle ofiterative learning control algorithm, through the application of adaptive iterativelearning control algorithm for trajectory tracking control simulation to the objectswhich are controlled can be seen, Adaptive iterative learning control algorithm issuperior to the closed loop PD iterative learning control algorithm, both in theconvergence speed and the accuracy of the desired trajectory tracking, But it alsoneeds to be improved in the control accuracy and the convergence speed.(4) On the base of the fourth chapter, putting forward a kind of adaptive robustiterative learning control algorithm which is improvement, adding robust item in thecontrol law, then doing simulation verified to the controlled object which wasestablished. Compared with the same trajectory of chapter4, the simulation resultsshow that the closed loop PD iterative learning control algorithm has thecharacteristics of faster convergence speed and better precision. adaptive module caneliminate the influence of system, that come from the unmodeled or interference,enhancing the system’s robustness; Doing Simulation results contrast with Adaptiveiterative learning control algorithm in chapter4,When the controller gain parametersmatrix is not set very appropriately, adaptive iterative learning control algorithmappeared a big deviation both in Joint angular displacement and angular velocity,when adding the gain parameters matrix of variable gain coefficient, the control effectof modified Auto-adapted robust iteration learning control is better than Adaptiveiterative learning control algorithm obviously. And on condition that ensuring systemtracking precision, the speed of error convergence change of angular displacementand angular velocity has been significantly improved.Finally, summarizing the main research work, summing up the problems whichneed to be studied further, and subsequent research ideas will be given. |
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