1A2-B08 力覚センサレスインピーダンス制御による柔軟な把持 : ボルト・ナットの把持締結

概要

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In this paper, we describe our work on realizing the manipulation of nut and bolt for assembly work using dual arm manipulator and robot hand. Generally, force sensor is used for estimation of external force. However, the cost of this sensor is expensive and easily damaged by inappropriate contact with object. This has led us to use other sensors instead to estimate the external force. Then, the results are compared with measurement from force sensor to validate for correct estimation. With the application of impedance control for robot hand, our robot could be able to grasp nuts ranges from several sizes down to as small as radius 2 mm. Furthermore, we applied a method called following control to make finger maintains its contact with worktable while making the grasping task. Thus, this could improve grasping nut task at a higher success rate even with some errors from robot position and vision data.