2A1-H22 可操作度の制御を用いたフィンガ・アームロボットのインピーダンス制御(冗長自由度ロボット・メカニズム)

概要

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This paper describes control method for a finger-arm robot to achieve the manipulability control and the impedance control in a three-dimensional space at the same time. Firstly, the control loop of the passive impedance using the previous heuristic method is proposed, and the experiments are completed with the proposed method. Secondly, the algorithm of the steepest ascent method to control the manipulability of the finger robot is also proposed for the impedance control. The effectiveness was shown in the optimization process of the manipulability. The proposed method gives advantages of enlarging the impedance space, singularity avoidance and avoidance of unexpected obstacles.
一般社団法人日本機械学会の論文
2008-06-06