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以适用于空间在轨服务的腱驱动五指灵巧手为研究对象,设计具有一定实时性的控制系统.为满足腱驱动灵巧手多指操作对同步性和实时性的特殊要求,提出基于RTX(real time extension)共享内存的模块化软件架构,可集成人机交互、虚拟显示、遥操作以及数据传输等模块,具有扩展性好、结构清晰、传输效率高的优点.针对腱驱动耦合的问题,提出关节空间到腱空间的解耦矩阵,并据此给出实时多指协调运动控制方法,以确保各手指同时到达期望位置,减小腱驱动迟滞造成的不利影响.最后通过多指灵巧抓取以及遥操作实验,验证所提控制系统的稳定性、可靠性.
In order to meet the special requirements of synchronicity and real-time for multi-finger manipulations of tendon-driven dexterous hand, this paper proposes a control system based on real-time RTX (real-time) time extension The modular software architecture of shared memory can integrate modules such as human-machine interaction, virtual display, teleoperation and data transmission with the advantages of good scalability, clear structure and high transmission efficiency. In order to solve the problem of tendon-driven coupling, Joint space to the tendon space decoupling matrix, and accordingly given real-time multi-finger coordinated motion control method to ensure that each finger to reach the desired position at the same time, reducing the adverse effects caused by tendon drive hysteresis.Finally, Teleoperation experiments to verify the stability and reliability of the proposed control system.