1A2-D08 力覚センサレスインピーダンス制御による柔らかい把持の実現

概要

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Our research group study about the autonomous dual-arm assembly robot. The first of goal as assembly work is tightening up nut to bolt. We propose force sensorless impedance control of the three-fingered robot hand and it is proposed to produce soft grasping. Force control is one of the important aspects in industrial and nursing robots for accurate and safe operations. Generally, force sensor is often used for this purpose despite of its expensive cost. This has lead us to use the current sensor instead, where the current between motor and motor driver is measured and used to estimate the external force applied to the finger. Finally, we describe the following control with force sensorless impedance control. In this paper, the proposed method has successfully grasped the M3 sized nut.
一般社団法人日本機械学会の論文
2009-05-25