Master-slave Control System Design And Implementation Of A Full Drived Dextrous Robot Hand

The control system of dexterous robot hand is one of important chanlleges in robot field.The traditional control methods limited the flexility of dexterous robot hand. More and moreresearchers focus on the master-slave control method to drive dexterous robot hand.In this paper, we develop a master-slave control system of a full drived dexterous robothand, which had20DOFs and five fingers. All of finger joints are active joints driven by20stepper motors. The main research work show as following:Analyzed the current research results and tendencies of the dexterous robot hands, thedriven components of dexterous robot hands and the relatived control systems, the researchobjectives and contents of this study are proposed in chaper1.According the driven components of the full drived dexterous robot hand, we firstlydevelop an ICB, which is the communication hardware between the PC and the full driveddexterous robot hand. Then, the communication procedures between the PC and the ICB areedited to send the control commands to drive the full drived dexterous robot hand. Three specialhand poses were tested to validate this process. Foremore, the human finger joints movementdata are obtained by Cybleglove. The movement data are mapped to the dexterous robot handfinger joints respectively. The format of movement data is transformed to satisfy thecommunication protocol. The shakes of Cybleglove are prevented before the movement data sentto the ICB. Thus, the master-slave control system of the full drived dexterous robot hand isconstructed.Two special experiments were carried to test this mater-slave control system. Thecybleglove obtained the human fingers movement data (“OK” hand pose and “V” hand pose),which driven the full drived dexterous robot hand to achieve the corresponded actions. Theexperiment results showed that this control system can efficient match the sampling frequency ofcyberglove data, achieve high real-time movement and impove the movement precision of thefull drived dexterous robot hand.