抄録
This paper considers control design of grasping and manipulation systems by multi-fingered robot hands based on the distance between the centers of gravity for the fingertips and the object. In the control design of the systems, controllers are usually designed for the variables with respect to the motion of the object and the internal force. However, it can not handle the approching/releasing tasks directly since it does not have the variables with respect to the distance between the fingertips and the object. In this paper, we propose a control design method for the grasping and manipulation system by the two fingered robot hand based on the distance between the centers of gravity for the fingertips and the object. Since the controller has the variables with respect to the distance between the centers of gravity for the fingertips and the object as well as the motion of the object and the internal force, it can handle the approaching/releasing tasks directly as well as grasping/manipulation tasks. A numerical example is shown to prove efficiency of the proposed method.
