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Joint impedance control of a stiffness adjustable tendon driven anthropomorphic hand

Reinecke, Jens (2011) Joint impedance control of a stiffness adjustable tendon driven anthropomorphic hand. Diploma. DLR-Interner Bericht. DLR-IB 572-2011/14, 89 S.

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Abstract

The DLR Hand-Arm-System is the first component of a new humanoid robot which is as robust and anthropomorphic as possible. Each joint of the system has an adjustable spring mechanism, which enables to adjust the mechanical stiffness. Additionally, the springs increase the mechanical robustness of the system against impacts. In this thesis the compliance control of the hand of the Hand-Arm-System is developed. A control unit is implemented, where the user can set the desired joint positions as well as the desired joint stiffness. The controller remains predictable for any input, because a state machine monitors the system. The mechanical as well as the controller stiffnesses are set in the system such that the desired effective stiffness in the joints is achieved. The system model is verified with experiments on the real system and the control unit is validated regarding the user specification.

Document Type:Monograph (DLR-Interner Bericht, Diploma)
Title:Joint impedance control of a stiffness adjustable tendon driven anthropomorphic hand
Authors:
AuthorsInstitution or Email of Authors
Reinecke, Jensjens.reinecke@dlr.de
Date:27 September 2011
Number of Pages:89
Status:Published
Keywords:Joint impedance control, stiffness, hand, anthropomorphic
Institution:Technische Universität Dresden
Department:Fakultät für Elektrotechnik und Informationstechnik
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Jessica Laskey
Deposited On:10 Jan 2012 13:02
Last Modified:10 Jan 2012 13:02

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