C37 位置と力の偏差に基づく制御モード切換え法を用いた2指ロボットハンドの把持搬送制御(OS11-3 移動ロボットと制御理論)

概要

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In this paper, the method for changing control mode based on position and force errors is applied to a two-fingered robot hand composed of the elastic joints, and the validity of the method is verified. First, an instruction value strategy for grasping and transporting an unknown object by this robot hand is proposed. Next, the simulation model of the robot hand that is called "Chopsticks model" is constructed and the simulation of grasping and transportation control is performed by the application of the proposed instruction value strategy. Furthermore, the grasping and transportation control experiment is conducted by using the same robot hand as a simulation model made for trial purposes. Simulation results and experimental results illustrate the validity of the proposed method.
2005-08-22