DOI 10.17586/0021-3454-2022-65-3-164-173
UDC 62–529
HARDWARE AND SOFTWARE ARCHITECTURE FOR ANTHROPOMORPHIC ROBOT HAND CONTROL SYSTEM
ITMO University, Faculty of Control Systems and Robotics, International Laboratory of Biomechatronics and Energy-Efficient Robotics;
E. E. Khomutov
ITMO University, Faculty of Control Systems and Robotics, International Laboratory of Biomechatronics and Energy-Efficient Robotics;
I. I. Borisov
ITMO University, Saint Petersburg, 197101, Russian Federation; Assistant
N. A. Molchanov
Sberbank, Robotics Laboratory;
I. A. Maksimov
Sberbank, Robotics Laboratory;
S. A. Kolyubin
ITMO University, Saint Petersburg, 197101, Russian Federation; Associate Professor
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Abstract. The results of the development and implementation of hardware and software architecture for the control system of an adaptive anthropomorphic robotic hand are presented. The research focuses on possibility of integrating the proposed robotic hand into the iCub robot’s control system while preserving the functionality and flexibility of implementing control algorithms. It has been achieved by prototyping the control system as an independent module connected to the iCub robot via network interface Ethernet. The data exchange between the gripper and the iCub robot has high stability and performance with a control frequency of 2 kHz with a delay less than 310 us and a jitter below 50 us. Testing of the control system’s software and hardware architecture demonstrated high accuracy in position control (± 1⁰) and force control (± 0,15 N) for fingers’ proximal phalanges.
Keywords: anthropomorphic grippers, control system, hardware, choice of element base, sensors, software interface
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