Research On Compliance Control Technology Of Dexterous Hand Based On Fingertip Force Touch Integrated Sensor

With the development of the robotics industry,man-machine interaction has become a hot research issue.When the robot end operator is applied an external force,how to adapt to this external force and not harm people or damage itself has become an important research issue.The research content of this paper is derived from the research project contract of the laboratory.The aim is to make use of the multimodal sensor signal of dexterous fingertip for compliant control,so as to accomplish more complex and intelligent tasks.First,based on the current research problems.the HIT/DLR Hand II multifingered robot hand sensor and soft control technology research status were reviewed,determining the choice of sensors and the smooth control technology research direction.Second,Design mechanical interface and electrical interface to integrate the tactile sensor and dexterous hand,and design the communication control system of tactile sensor for data acquisition and processing.The performance of the tactile sensor was tested by experiments,and the force was calibrated in Cartesian space.Third,Based on the tactile sensor,the continuous estimation of the fingertip contact position makes the attitude of the fingertip contact position more accurate.Based on the integrated tactile sensor,the single finger kinematics and mechanics modeling of dexterous hand is carried out,which provides the mathematical model foundation for the follow-up compliance control.Fourth,Compliance control was studied based on the contact position and posture of the fingertips and the forces in Cartesian space.In the process of object grasping,the dynamic model based on the connecting rod torque sensor space is improved.Compliance control based on joint space position not only has high position tracking performance but also can prevent collision and impact in contact process.The force controller of information can control the force after contact,so as to prevent the grasping force from being too large and damaging the object in the grasping process.At the same time,it can avoid the sliding caused by the grasping force being too small,making the gripping process stable.The design of control mode transformation observer makes the conversion process more natural.At last,Sliding detection and rolling recognition are carried out based on vibration signal of tactile sensor,to determine the final position of continuous contact operation strategy.using this operation strategy for single finger contact experiment,and experiment show that the smooth control can steadily grasping the object,and will not lead to sliding,ensuring the integrity of the process object.