Research On Wire Rope Driven Dexterous Robot Hand Control System

With the coming of Industry 4.0,industry automation reform and human life more work will be performed by Service Robot.Compared to the special tools end effector in Service Robot,dexterous hand has more strong flexibility and extensibility in common institutions,while it can only carry on the simple grasping movements,when facing of complex operation tasks often requires auxiliary equipment.The real-time and accuracy of control system is the important factor of dexterous hand.This article integrated the research on wire rope driven dexterous hand control system,and analyze the reasons of low response speed and real time of current dexterous hand control system.The research designs the wire rope driven control method of dexterous hand and the hardware and software control system.From the perspective of dexterous hand fingers kinematics,Based on the"N+1" joint angle mapping,an improved "N+l" dexterous hand control method is proposed.Upon the status messages of position sensors,one-dimensional force sensors and three-dimensional force sensors,the dexterous hand control system achieves the position feedback control.From the perspective of hardware implementation,the control system contains dexterous hand controller,sensors data collector and motor drive.Dexterous hand controller is designed with FPGA as the processing core of the low power consumption,high speed response control system.It takes the role of data acquisition and algorithm implementation as the central controller of dexterous hand control system.Sensor data acquisition unit designed to realize the sensor signal acquisition and analog digital converter,then sent the data to dexterous hand controller.Motor drive control motors’ movement by instruction of dexterous hand controller through CANopen protocol.From the perspective of software implementation,research focuses on multi-threaded operating system,which implement communications with PC by EtherCAT protocol,sensor data acqui-sition,motor and dexterous hand control algorithm.