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

Content Provider	IEEE Xplore Digital Library
Author	Zhaopeng Chen Lii, N.Y. Wimboeck, T. Shaowei Fan Minghe Jin Borst, C.H. Hong Liu
Copyright Year	2010
Description	Author affiliation: Faculty of State Key Laboratory of Robotics and System, Harbin Institute of Technology, 150001, China (Shaowei Fan; Minghe Jin) \|\| Institute of Robotics and Mechatronics, German Aerospace Center, DLR, 82234 Wessling, Germany (Zhaopeng Chen; Lii, N.Y.; Wimboeck, T.; Borst, C.H.; Hong Liu)
Abstract	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.
Starting Page	5867
Ending Page	5874
File Size	2310440
Page Count	8
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5649356
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Impedance Torque Robot sensing systems Gravity Hardware
Content Type	Text
Resource Type	Article

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