柔軟指による把持物体の姿勢制御(機械力学,計測,自動制御)

• 井上 貴浩

  岡山県立大学情報工学部スポーツシステム工学科

• 平井 慎一

  立命館大学理工学部ロボティクス学科

書誌事項

タイトル別名

• Posture Control of a Grasped Object by Soft Fingers(Mechanical Systems)
• 柔軟指による把持物体の姿勢制御
• ジュウナン シ ニ ヨル ハジ ブッタイ ノ シセイ セイギョ

抄録

This article proposes a new control method that is able to achieve the precise posture control of an object grasped by a two soft-fingered robot hand. This method consists of two parts: an integral controller of the object orientation and a PD controller of joint angles. The former contains desired joint angles of both fingers, which is obtained by accumulating the deviation of the object orientation by the integral control. The latter produces a constant torque term to accomplish the stable grasping of the hand, and generates requisite torques for precise manipulating of the object. As a result, this controller does not need force informations induced on the soft fingers. We verify the performance of the present new control method by simulating a given motion, and demonstrate it by implementing the handling experiments by means of a minimal degrees-of-freedom robotic hand. Finally, we make a discussion in terms of the effectiveness of the control law and stable grasping and manipulation on soft-fingered hands.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 75 (757), 2537-2546, 2009

  一般社団法人 日本機械学会

キーワード

• Robot
• Mechatronics
• Motion Control
• Soft Finger
• Posture Control
• Feedback
• Manipulation
• Grasping

詳細情報

• CRID: 1390282681364074496
• NII論文ID: 110007358379
• NII書誌ID: AN00187463
• DOI: 10.1299/kikaic.75.2537
• ISSN: 18848354
• ISSN: 03875024
• NDL書誌ID: 10446058
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I10446058
• Web Site: https://www.jstage.jst.go.jp/article/kikaic1979/75/757/75_KJ00005697293/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• 抄録ライセンスフラグ: 使用不可