指動作の解析結果に基づいた指の協調制御(4部ロボット)

概要

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In this paper, static motions of multijointed fingers are analyzed, and cooperative control procedures for fingers to locate an object at a desired position and in a desired orientation precisely are proposed. In the analyses, each fingertip is assumed to have a ball-like form and cooperative motions are classified into the next three types according to the fingers used. 1) two fingers of Fm and Fm, 2) two fingers of Fm and Ff, 3) one finger of Fm, where Fm means the finger which has an ability to control both the position of its fingertip and the orientation of its most distal link, and Ff means the finger which has an ability to control only its position. Cooperative motions of two fingers which generate simultaneous finger operation are considered only in the situation when the relative positions of the grasping fingers and the grasped object are maintained as in the initial state. Control procedures resulting from the analyses are applied to a versatile multijointed finger system having a short-range finding sensor at its palm area. Experimental results of such manual tasks as tilting a board, picking up a nut on a floor, attaching the nut to a screw, and its turning have shown that the procedures are useful in performing an autonomous precise handling of an object. It is also shown that the sensor becomes effective for tracing the object from movement while the task goes on.
バイオメカニズム学会の論文
1982-08-30