elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Cartesian Impedance Control on Five-Finger Dexterous Robot Hand DLR-HIT II with Flexible Joint

Chen, Zhaopeng and Lii, Neal Y. and Jin, Minghe and Fan, Shaowei and Liu, Hong (2010) Cartesian Impedance Control on Five-Finger Dexterous Robot Hand DLR-HIT II with Flexible Joint. Springer Berlin Heidelberg. The 3rd International Conference of Intelligent Robotics and Applications(ICIRA 2010), 10-12, Nov 2010, Shanghai, China.

[img]
Preview
PDF
327kB

Abstract

This paper presents an impedance controller for five-finger dexterous robot hand DLR-HIT II, which is derived in Cartesian space. By considering flexibility in finger joints and strong mechanical couplings in differential gear-box, modeling and control of the robot hand are described in this paper. The model-based friction estimation and velocity observer are carried out with an extended Kalman filter, which is implemented with parameters estimated by Least Squares Method. The designed estimator demonstrates good prediction performance, as shown in the experimental results. Stability analysis of the proposed impedance controller is carried out and described in this paper. Impedance control experiments are conducted with the five-finger dexterous robot hand DLR-HIT II in Cartesian coordinates system to help study the effectiveness of the proposed controller with friction compensation and hardware architecture.

Item URL in elib:https://elib.dlr.de/80499/
Document Type:Conference or Workshop Item (UNSPECIFIED)
Title:Cartesian Impedance Control on Five-Finger Dexterous Robot Hand DLR-HIT II with Flexible Joint
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Chen, Zhaopengzhaopeng.chen (at) dlr.deUNSPECIFIED
Lii, Neal Y.neal.lii (at) dlr.deUNSPECIFIED
Jin, MingheUNSPECIFIEDUNSPECIFIED
Fan, ShaoweiUNSPECIFIEDUNSPECIFIED
Liu, Honghong.liu (at) dlr.deUNSPECIFIED
Date:November 2010
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:12
Publisher:Springer Berlin Heidelberg
Status:Published
Keywords:dexterous robot hand, flexible joint, Cartesian space, impedance control, friction compensation
Event Title:The 3rd International Conference of Intelligent Robotics and Applications(ICIRA 2010)
Event Location:Shanghai, China
Event Type:international Conference
Event Dates:10-12, Nov 2010
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 14:31
Last Modified:31 Jul 2019 19:39

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.