1A1-B35 ロボットハンドのスーパーバイザリ制御 : 物体の安定把持と姿勢制御

概要

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This paper proposes a supervisory control system for a multi-fingered robotic hand and provides its control framework. The system consists of master and slave systems. The master system provides an intuitive operationality and can be applied to control of slave robotic hand with different configuration. The closed loop of a slave controller guarantees a secure manipulation without any tactile feedback to an operator. It is easy to manipulate an object even there exists time delay in communication between the master and the slave systems. A unified preshaping (releasing) and pinching controller and orienting controller are proposed for a manipulation in a horizontal plane as a case study. Unification of preshaping and pinching controller avoids undesirable jump phenomena, which may cause unstable behaviors at the transition between preshaping to pinching because of exchange of the controllers. The three experiments are executed to confirm that the slave hand pinches objects and controls their orientation angle easily even time delay exists.
一般社団法人日本機械学会の論文