冗長自由度を有する多指ハンドの把握制御の研究 : 第1報,ダイレクトコンプライアンス制御による把握制御実験

概要

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This paper discusses the problem of stable grasping by a multifingered robot hand with a redundant degree of freedom. Firstly, the condition for stable grasping using virtual stiffness parameters at each finger tip was formulated through mathematical analysis. Secondly, in order to achieve the above stable grasping condition, the joint stiffnesses for each finger were adjusted by two stiffness control algorithms : the Salisbury method and the direct compliance control method (DCC). When the Salisbury method was applied to fingers with a redundant degree of freedom, the finger posture was mathematically found to become unstable. On the other hand, DCC was confirmed to be an effective method for maintaining stable finger posture in the grasping operation even when the redundant finger structure was employed. The above-mentioned results were experimentally confirmed.
社団法人日本機械学会の論文
1989-09-25