Development of control and sensing system for three-finger robot hand and demonstration
Date Issued
2010
Date
2010
Author(s)
Abstract
In this work, we design and implement a control and sensing system for a three-finger robot hand. The system effectively controls the joint angles and forces of the hand. Then, the grasping capability of the hand is demonstrated using the system. The MSP430f1611 is employed as the microcontroller for the position and force feedback control circuit. For the position control, the adaptive PD controller is employed, while the traditional PID controller is used for the force control. In addition, using the force/position hybrid control method, the aforementioned two controllers are integrated. We adapt the commercially-available pressure sensor elements to build a multi-axis sensing system.
The required platform for the demonstration of control and sensing system are also developed. We use an xy table to emulate the arm of a robot hand. The developed control/driving/sensing circuit boards are attached on the xy table. Labview is employed as the software platform for the high-level control commands. Furthermore, the codes developed in Labview is connected with Matlab for computing with other control algorithms, such as the force closure. Moreover, with the measured force data collected by sensing system, it is demonstrated that the hand can be real-time controlled to steadily grasping a object.
Subjects
three-finger robot hand
motor control system
tactile
grasp
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