Model Predictive Controller for a Micro-PMSM-Based Five-Finger Control System

摘要

This paper proposes the design and implementation of a model predictive control (MPC) algorithm for a micro-permanent-magnet synchronous motor (micro-PMSM)-based five-finger control system. First, the kinematic analysis and inverse kinematics of the micro-finger system are developed. The relationship between the rotor position of micro-PMSM and the position of the micro-fingertip is determined. Then, an MPC algorithm is designed to improve the performance of the micro-PMSM control system. An embedded system, cRIO-9024/9112, is used as a control center to execute the position control algorithm and force control algorithm. Experimental results show that the proposed system provides satisfactory transient responses, load disturbance responses, and tracking responses. In addition, the proposed five-finger system can grasp some objects by using the proposed force feedback control and a trajectory planning algorithm.