Kinetostatic filtering法を用いた多指ハンドの協調制御

抄録

This paper proposes a new control scheme for a coordinated motion and force control of multi-fingered robot hand. Proposed control scheme can achieve simultaneous control of the position of a target object and a so-called ‘internal force’ which does not affect the motion of the object. Based on ‘knetostatic filtering method’ which eliminates a element of internal force from joint angle feedback signal, proposed controller can achieve internal force regulation for the fingers which have kinematical redundancy. Computer simulation results and experimental results illustrates the effectiveness of proposed scheme.