多指ハンドによる把持物体剛性制御 : 第1報,制御構造の提案と評価実験

概要

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When a robot is required to carry out tasks in which the manipulated object will receive force constraints from the environment, such as assembly tasks, control of the stiffness conditions of the object is important. In order to develop a multifingered hand with such a function, in this paper, we propose a method of controlling stiffness of an object grasped by a multifingered hand. In this method, it is assumed that the multifingered hand has compliance control capability and that the object is stably grasped and manipulated by it through position-stiffness-based control. With such control structure of the multifingered hand in mind, an efficient object stiffness control method is formulated, in which the object position is controlled according to the external forces applied to the grasped object to satisfy the desired stiffness condition. The evaluation experiments of the proposed method using a two-fingered hand are also described.
社団法人日本機械学会の論文
1993-10-25