2P1-G15 複数可操作度を総合的に評価したマルチフィンガ・アームロボットのアドミッタンス制御

概要

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In the previous study, a cooperative control algorithm was proposed for a finer-arm robot system composed of a 3DOF finger robot and a 6DOF arm robot whose results show that satiny moving was realized in constrained and unconstrained spaces. Past proposed method were the combination of the control of a finger manipulability and admittance control whose methods were used for one finger system. In the paper, the proposed methods, which are realized by both a top search and a local optimization method, is extend from one finger system to two-fingers system which imitates a middle finger and an index finger in consideration of cooperative task with a human being. Firstly, by use of the admittance control, the top search method and the local optimization method are examined to clarify its effectiveness. Next, an expanding the number of finger robots, the average method and the mini-max method are examined to evaluate for manipulability of two fingers.
一般社団法人日本機械学会の論文
2009-05-25