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Experimental Study on Impedance Control for the Five-Finger Dexterous Robot Hand DLR-HIT II

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), 18-22, Oct 2010, Taipei, Taiwan.

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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/
Document Type:Conference or Workshop Item (UNSPECIFIED)
Title:Experimental Study on Impedance Control for the Five-Finger 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
Fan, ShaoweiUNSPECIFIEDUNSPECIFIED
Jin, MingheeUNSPECIFIEDUNSPECIFIED
Borst, ChristophChristoph.Borst (at) dlr.deUNSPECIFIED
Liu, Honghong.liu (at) dlr.deUNSPECIFIED
Date:October 2010
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
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 Dates:18-22, Oct 2010
Organizer:IEEE
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:11 Jan 2013 14:39
Last Modified:31 Jul 2019 19:39

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