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基于手指动力学模型建立了速度观测器.该观测器用于欠驱动手的自适应轨迹跟踪,弥补了欠驱动手没有速度传感器的缺点,补偿了手指模型中欠驱动元件(如扭簧)造成的不确定因素.与PID和计算力矩法相比,其跟踪误差更小,动态控制效果更加理想.通过动力学模型建立了基于力的阻抗控制策略,在阻抗控制中使用速度观测器,实现了基关节的动态抓取力跟踪.动态轨迹跟踪与力跟踪相结合,使欠驱动手在抓握时具有良好的动态抓取性能.
The velocity observer is built based on the finger dynamics model. The observer is used for adaptive trajectory tracking of underactuated hands, which compensates for the shortcomings of underaged hands without speed sensors and compensates for the lack of driving components (such as torsional springs) in finger models Uncertainties, compared with PID and computational torque method, the tracking error is smaller and the dynamic control effect is more ideal. Based on the dynamic model, a force-based impedance control strategy is established. The velocity observer is used in the impedance control to realize the joint Dynamic tracking force tracking.Dynamic trajectory tracking and force tracking combine to make underactuated hand grasp a good dynamic crawl performance.