Journal
Scientific and technical journal «Priborostroenie»
UDK62–529
Issue:3 (65)
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HARDWARE AND SOFTWARE ARCHITECTURE FOR ANTHROPOMORPHIC ROBOT HAND CONTROL SYSTEM
Annotation
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.
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Articles in current issue
- STRUCTURAL-PARAMETRIC SYNTHESIS OF PLANAR UNDERACTUATED LINKAGES FOR ANTHROPOMORPHIC ROBOTIC HANDS
- DESIGN OF AN UNDERACTUATED JUMPING ROBOT WITH FLEXIBLE JOINTS
- MODIFIED INTELLIGENT BIDIRECTIONAL RANDOM TREE ALGORITHM FOR PLANNING THE MOVEMENT OF ANTHROPOMORPHIC MANIPULATORS
- OBJECTS SEGMENTATION WITH RETRAINING FUNCTION
- METRIC-SEMANTIC MAPPING BASED ON DEEP NEURAL NETWORKS FOR SYSTEMS OF INDOOR AUTONOMOUS NAVIGATION
- OPTIMIZATION ALGORITHMS FOR IMPROVING THE ACCURACY AND ROBUSTNESS OF VISUAL ODOMETRY OF GROUND-BASED MOBILE ROBOTS