一般化安定化補償器による反力推定を利用したロボットハンドの把持機構の制御(機械力学,計測,自動制御)

概要

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In this paper, we propose a control system for a prototype robotic hand that can hold an object with suitable grasping force without using a force sensor. This control system is composed of two 1-DOF robot hands and a CCD camera. The control system recognizes the object with the CCD camera, and the database retrieves the suitable grasping force for holding each object. We propose the control method of a reduced order observer-based stabilizing controller by using limiting properties of LQR for this control system. The proposed reduced order observer-based stabilizing controller has disturbance estimation property and disturbance decoupling property which is the same as the internal model control design structure. We apply the proposed method to the robot hand, and confirm effectiveness of the method by comparative experiments.
社団法人日本機械学会の論文
2007-02-25