116 摩擦円錐を用いたすべり検知に基づく物体把持制御(GS-15 ロボティクス・メカトロニクス)

概要

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In this paper, we propose the grasping control system using compliance control based on position control. The sliding mode control, which excels in robustness is used as the position controller. Using position control, there is no need to change the control rule regardless of the approach/grasp phase, and the stability of control system is achieved. In addition, the slip of the object, due to its mass change or external force, is identified using shear direction force and the friction cone. To avoid slip between the fingers and the object, grasping force is increased by accompanying additional stiffness matrix proportional to the slipping degree. Equally, the grasping force is decreased when excessive force is generating on the object. Applying the proposed control system to the multifingered hand, the practicability of this method is verified.
社団法人日本機械学会の論文
2004-03-17