论文标题
使用PVDF滑动检测传感器掌握电缆驱动的机器人手的控制
Grasp Control of a Cable-Driven Robotic Hand Using a PVDF Slip Detection Sensor
论文作者
论文摘要
检测和预防滑动是机器人手术的主要挑战，是机器人执行安全可靠抓手能力的基础。使用作者较早作品的机器人手设计，这里提出了一种传感和控制策略，以防止对象滑动。机器人的手是电缆驱动的，单驱动的，有五个手指，并且能够复制大多数人的手动运动。滑动传感方法采用了压电振动传感器，即聚乙烯氟化物（PVDF），该传感器是一种柔性，薄，便宜且高度敏感的材料。滤波后的PVDF信号的功率显示出在滑动过程中表现出可识别的特征，从而提供了合适的滑动检测机制。使用PVDF反馈，实现了一个积分控制器，以防止握住的对象掉落，并确保安全，强大和可靠的掌握。机器人手的延伸运动通过比例综合（PI）控制器控制弯曲传感器。机器人手重338克。通过实验评估了提出的滑移检测感觉系统和控制逻辑实现的功能和鲁棒性。
Detecting and preventing slip is a major challenge in robotic hand operation, underpinning the robot's ability to perform safe and reliable grasps. Using the robotic hand design from the authors' earlier work, a sensing and control strategy is proposed here to prevent object slippage. The robotic hand is cable-driven, single-actuated, has five fingers, and is capable of replicating most human hand motions. The slip sensing approach utilizes a piezoelectric vibration sensor, namely, polyvinylidene fluoride (PVDF), which is a flexible, thin, cheap, and highly sensitive material. The power of the filtered PVDF signal is shown to exhibit identifiable signatures during slip, thus providing a suitable slip detection mechanism. Using the PVDF feedback, an integral controller is implemented to prevent the grasped object from falling and ensure a safe, powerful, and reliable grasp. The extension movement of the robotic hand is controlled using a bend sensor, through a proportional-integral (PI) controller. The robotic hand weights 338 gr. The functionality and robustness of the proposed slip-detection sensory system and control logic implementation are evaluated through experiments.
