4210 電空レギュレータを用いた空気圧駆動マスタ・スレーブハンドの開発(G15-3 ハンド/マニピュレータ,G15 ロボティクス・メカトロニクス)

概要

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In this paper, we have developed a master-slave robot hand. Because of the safety issues raised by robot contact with people, we developed a robot hand that uses balloon-type pneumatic actuator with these issues in mind. The master-slave robot hands works flexibly and imitate human's hand movements by using sensor glove. But since we use ON-OFF pneumatic valves, it is difficult for an artificial muscular type actuator to control high accuracy. So we made the joint model of the five-fingered robot hand, the control system of the joint model has been designed and experimented to confirm the effectiveness of the control system. The result shows that PI control work well to use in robot hand effectively.
社団法人日本機械学会の論文
2007-09-07