Design of a Decoupling Controller for the UTAH/M.I.T. Dexterous Robot Hand

摘要

This thesis describes the design of a decoupling controller for the Utah/MITDexterous Hand (DH). The DH is of a semi-anthropomorphic configuration and possesses-three fingers and a thumb, each consisting of four joints. An analog controller of the proportional plus derivative type, is used to control the movements of different joints of the DH. The different gain blocks of the analog controller and the position and tendon tension sensors of each joint are calibrated. The dynamics of each joint is determined, and the control parameters for the PD controller of each joint are calculated. The three distal joints of the DH are mechanically coupled, i.e. the movement of one joint results in the movement of the other coupled joints. An algorithm to decouple different joints of the DH is proposed. The simulation results obtained using SYSTEM BUILD utility of MATRIXx show that joints of the DH can be controlled independently when the decoupling algorithm is included with the PD controller. Software, to implement the decoupling algorithm, is written in the 'C' programming language.