抄録
In this paper, by using the impedance control of power instruction-type, the tracking control for the noncontact and the force control for the contact can be reasonably realized. Final goal of our research is to present an intelligent bin picking system, which recognizes an object using a camera and pick it up using a robot hand out of the part group of various forms. In this paper, we proposed grasping control which suppresses the excessive power and excessive vibration between fingertip and object. The excessive power and excessive vibration are generated by the recognition error of camera. Then, this research applies the impedance control of force instruction-type. The effectiveness of the proposed control is shown through simulation and experience.
