Experimental study on impedance control for the five-finger dexterous robot hand DLR-HIT II

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 performance of the impedance controller, system parameter estimations w...

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Bibliographic Details
Published in2010 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 5867 - 5874
Main Authors Zhaopeng Chen, Lii, N Y, Wimboeck, T, Shaowei Fan, Minghe Jin, Borst, C H, Hong Liu
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2010
Subjects
Gravity
Hardware
Impedance
Joints
Robot sensing systems
Torque
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ISBN9781424466740
1424466741
ISSN2153-0858
DOI10.1109/IROS.2010.5649356

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Summary: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 performance 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.
ISBN:9781424466740
1424466741
ISSN:2153-0858
DOI:10.1109/IROS.2010.5649356