フィンガとマニピュレータの個別アドミッタンス制御におけるタスク実行時のフィンガ可操作度補償効果

• 堀 貴之

  横浜国立大学大学院工学府

• 佐野 嘉則

  横浜国立大学大学院工学府

• 黄 健

  近畿大学工学部

• 豊田 希

  横浜国立大学大学院工学研究院

• 藪田 哲郎

  横浜国立大学大学院工学研究院

書誌事項

タイトル別名

• Compensation for Manipulability under Execution of Task with Individual Admittance Control of Finger and Manipulator

抄録

In this paper, we propose “double admittance control” for a finger & manipulator system, which can realize different admittances of both the finger and the manipulator. The proposed method can realize very natural motion to constrained tasks and can compensate a finger-manipulability under the admittance control. Although our previous method can compensate the finger-manipulability under finger admittance control during the constrained task by using compensate manipulator motion depending on an optimum theory, these results can realize only artificially-made motions. On the other hand, as the new proposed method uses natural dynamic effects, its system is very simple and its motion is very natural. Consequently, this new proposed system has a possibility to extend the manipulator technology to biomechanical control field.

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 77 (776), 1376-1387, 2011

  一般社団法人 日本機械学会

キーワード

• Mechatronics
• Robot
• Manipulator
• Motion Control
• Admittance Control
• Manipulability
• Redundancy

詳細情報

• CRID: 1390282681363541504
• NII論文ID: 130000873582
• DOI: 10.1299/kikaic.77.1376
• ISSN: 18848354
• ISSN: 03875024
• Web Site: http://www.jstage.jst.go.jp/article/kikaic/77/776/77_776_1376/_pdf
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
  • KAKEN
• 抄録ライセンスフラグ: 使用不可