Abstract
This paper present recent results on the joint and Cartesian space impedance control for five-finger dexterous robot hand DLR-HIT II with elastic joints, based on joint torque feedback and nonlinearity compensation. Passivity based control strategy was implemented on HIT/DLR II dexterous robot hand, with modeling of the elastic joint on the robot hand. To improve the performance of the impedance controller, adaptive friction estimation with extended Kalman filter and gravity compensation based on Least Squares have been investigated on the robot hand. Experimental results show that, for the harmonic drive robot hand with joint torque feedback, accurate position tracking and stable torque/force response can be achieved with Cartesian and joint impedance controller with adaptive friction compensation.
| Original language | English |
|---|---|
| Pages (from-to) | 78-86 |
| Number of pages | 9 |
| Journal | Dianji yu Kongzhi Xuebao/Electric Machines and Control |
| Volume | 16 |
| Issue number | 12 |
| State | Published - Dec 2012 |
Keywords
- Dexterous robot hand
- Elastic joint
- Friction observer
- Impedance control
- Kalman filter
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