1B2-2 ユニバーサルロボットハンドの触覚情報に基づいた物体操作(OS13:IRT)

概要

論文の詳細を見る
Various robot hands are developed and researched all over the world. To grasp the object by using the robot hand, the fingertip position and force must be controlled at the same time. The conventional control methods are not hard to apply the robot hand. In this paper, the fingertip position is controlled by the finger of the robot hand and the fingertip force is controlled by the opposite finger. The finger (the position control) controls the position of the grasped object and the finger (the force control) controls the grasping force. A new force control method is proposed for this position / force control method. This force control method is suitable for the robot hand. In this paper, the proposed method is applied to the Universal Robot Hand II and verified about the effectiveness.
一般社団法人日本機械学会の論文
2011-09-01