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.
Experimental Study on Impedance Control for the Five-Finger Dexterous Robot Hand DLR-HIT II
2010 ; Taipei, Taiwan
2010-10-01
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Cartesian Impedance Control on Five-Finger Dexterous Robot Hand DLR-HIT II with Flexible Joint
Deutsches Zentrum für Luft- und Raumfahrt (DLR) | 2010
|Deutsches Zentrum für Luft- und Raumfahrt (DLR) | 2009
|Robot Forearm and Dexterous Hand
NTRS | 2005
|Dexterous underwater robot hand: HEU Hand II
Tema Archiv | 2006
|