625 腱駆動手首の開発とロボットハンドへの応用

概要

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Recently, various robot hands have been developed. By the last year, we developed the multi finger robot hand using small pneumatic actuators. In this research, we developed a slender tendon-driven wrist using a wire drive and two small motors to expand its motion space and to perform many operations. First, we identify the characteristics of the wrist and construct a control system. We tried to control the movements of the wrist using PID and fuzzy control system and verify its control performance. In addition, we conducted the experiment that controls two different movements at the same time.
一般社団法人日本機械学会の論文
2009-08-03