1204 位置制御に基づく多指ハンドの物体把持特性

概要

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In this paper we present the grasping control system based on the position control. The slide mode control, which excels in robustness, is used for the position controller. Due to grasping is made by the position control, it is not necessary that the change of the control rule accompanying approach/grasp phase. Therefore the control system is stable. Grasping objects may slip from fingertips, when the mass of grasping objects and the attitude of the manipulators, which attached hands on, changes. To avoid the slide between fingers and objects, the friction coefficient is identified in real time. And we consider that objects begin to slip when the value exceeds the maximum coefficient of friction. To regard the coefficient as a threshold, the grasping force is made to increase by making the compliance of joints increase. The proposed control system is actually applied to a multifingerd hand, and the usefulness was verified.
社団法人日本機械学会の論文