Design And Research Of Multi-DOF Dexterous Hand Control System

Multi-DOF dexterous robot hand is one of the robot end-effector,its flexibility and controllability is an important manifestation of the level of automation,greatly affecting the intelligent level of the robot.Therefore,the research on the design and control method of the multi-degree-of-freedom dexterous hand control system has become an urgent task for the research of robot anthropomorphism.This paper studies and summarizes the dexterous hand control system at home and abroad,designs a multi-degree-of-freedom dexterous hand control system using the hierarchical control method.The position-based impedance control strategy is used to realize the flexible motion control of the dexterous hand,has a strong practical application value.In this paper,the control system and control method of dexterous hands at home and abroad are analyzed.On this basis,the control system of dexterous hand is designed by using the idea of hierarchical control.The top layer is the planning layer,the overall planning of the grasping movement of the dexterous hand,the design of human-computer interaction with Visual Studio software interface,can issue a single finger or multi-finger motion control instructions,can show the finger joint finger rotation and finger force curve,You can set the sensor and communication interface.The middle layer uses the DSP chip to coordinate the movement between each finger.The bottom uses FPGA to control the movement of the single finger of the dexterous hand.Top and middle communication using USB interface communication,the middle layer and the bottom of the communication using LVDS communication.Secondly,the core controller DSP and FPGA circuits are designed,and the signals of the finger sensors are collected and controlled by FPGA.The signal processing circuit of the sensor is designed by selecting the appropriate finger sensor.On the basis of hardware design,the software of the control system is designed,including the design of human-computer interaction interface and related programs.Finally,the kinematics model of the dexterous hand is established by the D-H parameter method of the robot,and the kinematics analysis is carried out to derive the Jacobian matrix.Based on the designed control system,the position control and position-based impedance control of dexterous hand are studied and experimented.