2P1-H03 可操作度を考慮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の枠組

概要

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In the previous study, a cooperative control algorithm was proposed for a finger-arm robot composed of a 3DOF finger robot and a 6DOF arm robot. The cooperative control algorithm was a method for having a finger-arm robot complete a constrained task by integrating admittance control with manipulability control of the finger. However, in the previous study, only methods for a 3DOF finger of the finger-arm robot were discussed. This paper describes a control method for a multi finger-arm robot in order to simultaneously achieve the manipulability control and the admittance control in a three-dimensional space. The proposed method demonstrates a strong performance even when a dynamic external force is applied to the multi finger. By using the proposed method, the arm actively moves along a direction to effectively maintain the moving potential of the finger during both the unconstrained and the constrained tasks.
一般社団法人日本機械学会の論文
2009-05-25