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Experimental Evaluation of Cartesian and Joint Impedance Control with Adaptive Friction Compensation for the Dexterous Robot Hand DLR-Hit II

Chen, Zhaopeng and Lii, Neal Y. and Wimböck, Thomas and Shaowei, Fan and Hong, Liu (2011) Experimental Evaluation of Cartesian and Joint Impedance Control with Adaptive Friction Compensation for the Dexterous Robot Hand DLR-Hit II. International Journal of Humanoid Robotics, 8 (4), pp. 649-671. World Scientific Publishing Co. DOI: 10.1142/S0219843611002605 ISSN 0219-8436

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Official URL: http://www.worldscientific.com/doi/abs/10.1142/S0219843611002605

Abstract

This paper presents impedance controllers with adaptive friction compensation for the five-finger dexterous robot hand DLR-HIT II in both joint and Cartesian space. A FPGAbased control hardware and software architecture with real-time communication is designed to fulfill the requirements of the impedance controller. Modeling of the robot finger with exible joints and mechanical couplings in the differential gear-box are described in this paper. In order to address the friction due to the complex transmission system and joint coupling, an adaptive model-based friction estimation method is carried out with an Extended Kalman Filter. Performance of the impedance controller with both adaptive and parameters-xed friction compensation for the robot hand DLR-HIT II are analyzed and compared in this paper. Futhermore, gravity estimation is implemented with Least Squares technique to address uncertainties in gravity compensation due to the close proximity and complexity of robot hand components. Experimental results prove that accurate position tracking and stable torque/force response can be achieved with the proposed impedance controller with friction compensation on five-finger dexterous robot hand DLR-HIT II.

Item URL in elib:https://elib.dlr.de/80479/
Document Type:Article
Title:Experimental Evaluation of Cartesian and Joint Impedance Control with Adaptive Friction Compensation for the Dexterous Robot Hand DLR-Hit II
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Chen, Zhaopengzhaopeng.chen (at) dlr.deUNSPECIFIED
Lii, Neal Y.neal.lii (at) dlr.deUNSPECIFIED
Wimböck, Thomasthomas.wimboeck (at) dlr.deUNSPECIFIED
Shaowei, Fanfswhit (at) yahoo.com.cnUNSPECIFIED
Hong, Liuhong.liu (at) dlr.deUNSPECIFIED
Date:December 2011
Journal or Publication Title:International Journal of Humanoid Robotics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:8
DOI :10.1142/S0219843611002605
Page Range:pp. 649-671
Publisher:World Scientific Publishing Co
ISSN:0219-8436
Status:Published
Keywords:dexterous hand; impedance control; flexible joint; friction observer
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Chen, Zhaopeng
Deposited On:15 Jan 2013 16:08
Last Modified:31 Jul 2019 19:39

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