多指ハンドのリンク内接触による操り : 第2報, インピーダンス制御にもとづく操りの制御

概要

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We have proposed a Whole Finger Manipulation (WFM) to improve robustness of manipulation by multifingered robot hand. The WFM is characterized by (1) multiple contact points between an object and surfaces of the inner links of multifingered robot hand, (2) a manipulation by utilizing a sliding at each contact point. In this paper, considering the kinematics and dynamics of the WFM, we propose a control scheme which guarantees the manipulation stability. The proposed control law consists of both tracking control of multifingered robot hand and impedance control which enforces the motion of the contact point in the normal direction and internal force. The minimal internal force is defined as the internal force which generate the minimal contact force at the instant. The conditions for being manipulated an object stably are presented. The experimental results to verify the validity of the proposed control law are shown.
一般社団法人日本機械学会の論文
1998-06-25