High performance DSP/FPGA controller for implementation of HIT/DLR dexterous robot hand

2004 ◽  
Author(s):  
P. He ◽  
M.H. Jin ◽  
L. Yang ◽  
R. Wei ◽  
Y.W. Liu ◽  
...  
Keyword(s):  
High Performance ◽  
Robot Hand ◽  
Dexterous Robot Hand

Development and Testing of a Telemanipulation System With Arm and Hand Motion

2000 ◽  
Author(s):  
Michael L. Turner ◽  
Ryan P. Findley ◽  
Weston B. Griffin ◽  
Mark R. Cutkosky ◽  
Daniel H. Gomez
Keyword(s):  
Force Feedback ◽  
Haptic Feedback ◽  
Industrial Robot ◽  
Robot Hand ◽  
Robot Arm ◽  
Task Execution ◽  
Hand Motion ◽  
Instrumented Glove ◽  
Simple Manipulation ◽  
Dexterous Robot Hand

Abstract This paper describes the development of a system for dexterous telemanipulation and presents the results of tests involving simple manipulation tasks. The user wears an instrumented glove augmented with an arm-grounded haptic feedback apparatus. A linkage attached to the user’s wrist measures gross motions of the arm. The movements of the user are transferred to a two fingered dexterous robot hand mounted on the end of a 4-DOF industrial robot arm. Forces measured at the robot fingers can be transmitted back to the user via the haptic feedback apparatus. The results obtained in block-stacking and object-rolling experiments indicate that the addition of force feedback to the user did not improve the speed of task execution. In fact, in some cases the presence of incomplete force information is detrimental to performance speed compared to no force information. There are indications that the presence of force feedback did aid in task learning.

A dexterous robot hand with a bio-mimetic mechanism

2011 ◽  
Vol 12 (2) ◽  
pp. 227-235 ◽  
Author(s):  
Eun-Hye Kim ◽  
Seok-Won Lee ◽  
Yong-Kwun Lee
Keyword(s):  
Robot Hand ◽  
Dexterous Robot Hand

scholarly journals EXPERIMENTAL EVALUATION OF CARTESIAN AND JOINT IMPEDANCE CONTROL WITH ADAPTIVE FRICTION COMPENSATION FOR THE DEXTEROUS ROBOT HAND DLR-HIT II

2011 ◽  
Vol 08 (04) ◽  
pp. 649-671 ◽  
Author(s):  
ZHAOPENG CHEN ◽  
NEAL Y. LII ◽  
THOMAS WIMBÖCK ◽  
SHAOWEI FAN ◽  
HONG LIU
Keyword(s):  
Impedance Control ◽  
Estimation Method ◽  
Friction Compensation ◽  
Robot Hand ◽  
Joint Coupling ◽  
Differential Gear ◽  
Close Proximity ◽  
Accurate Position ◽  
Complex Transmission ◽  
Dexterous Robot Hand

This paper presents impedance controllers with adaptive friction compensation for the five-finger dexterous robot hand DLR-HIT II in both joint and Cartesian space. An FPGA-based control hardware and software architecture with real-time communication is designed to fulfill the requirements of the impedance controller. Modeling of the robot finger with flexible joints and mechanical couplings in the differential gear-box are described in this paper. In order to address the friction due to the complex transmission system and joint coupling, an adaptive model-based friction estimation method is carried out with an extended Kalman filter. The performance of the impedance controller with both adaptive and parameter-fixed friction compensations for the robot hand DLR-HIT II are analyzed and compared in this paper. Furthermore, gravity estimation is implemented with Least Squares technique to address uncertainties in gravity compensation due to the close proximity and complexity of robot hand components. Experimental results prove that accurate position tracking and stable torque/force response can be achieved with the proposed impedance controller with friction compensation on five-finger dexterous robot hand DLR-HIT II.

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