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) Posture Control of a Grasped Object by Soft Fingers(Mechanical Systems)

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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.

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  • 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

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各種コード

  • NII論文ID(NAID)
    110007358379
  • NII書誌ID(NCID)
    AN00187463
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    0387-5024
  • NDL 記事登録ID
    10446058
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1056
  • データ提供元
    CJP書誌  NDL  NII-ELS  J-STAGE 
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