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Chen, Zhaopeng and Lii, Neal Y. and Wimböck, Thomas and Fan, Shaowei and Jin, Minghee and Borst, Christoph and Liu, Hong (2010) Experimental Study on Impedance Control for the Five-Finger Dexterous Robot Hand DLR-HIT II. IEEE. The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2010), 2010-10-18 - 2010-10-22, Taipei, Taiwan. doi: 10.1109/iros.2010.5649356.
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Abstract
This paper presents experimental results on the five-finger dexterous robot hand DLR-HIT II, with Cartesian impedance control based on joint torque and nonlinearity compensation for elastic dexterous robot joints. To improve the performence of the impedance controller, system parameter estimations with extended kalman filter and gravity compensation have been investigated on the robot hand. Experimental results show that, for the harmonic drive robot hand with joint toruqe feedback, accurate position tracking and stable torque/force response can be achieved with cartesian and joint impedance controller. In addition, a FPGA-based control architecture with flexible communication is proposed to perform the designed impedance controller.
| Item URL in elib: | https://elib.dlr.de/80498/ | ||||||||||||||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (UNSPECIFIED) | ||||||||||||||||||||||||||||||||
| Title: | Experimental Study on Impedance Control for the Five-Finger Dexterous Robot Hand DLR-HIT II | ||||||||||||||||||||||||||||||||
| Authors: |
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| Date: | October 2010 | ||||||||||||||||||||||||||||||||
| Open Access: | Yes | ||||||||||||||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||||||||||||||||||
| DOI: | 10.1109/iros.2010.5649356 | ||||||||||||||||||||||||||||||||
| Number of Pages: | 8 | ||||||||||||||||||||||||||||||||
| Publisher: | IEEE | ||||||||||||||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||||||||||||||
| Keywords: | dexterous robotic hand; impedance control; friction observer; Kalman Filter | ||||||||||||||||||||||||||||||||
| Event Title: | The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2010) | ||||||||||||||||||||||||||||||||
| Event Location: | Taipei, Taiwan | ||||||||||||||||||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||||||||||||||||||
| Event Start Date: | 18 October 2010 | ||||||||||||||||||||||||||||||||
| Event End Date: | 22 October 2010 | ||||||||||||||||||||||||||||||||
| Organizer: | IEEE | ||||||||||||||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||||||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||||||||||||||
| 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: | 11 Jan 2013 14:39 | ||||||||||||||||||||||||||||||||
| Last Modified: | 11 Nov 2024 09:47 |
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