抄録
Admittance control is one of effective methods when we realize flexibility of the robot finger. The admittance control is used for a finger-arm in order to simultaneously achieve the manipulability of the finger. Our previous studies show that damping effect of the admittance control can not be realized perfectly, which is related to the velocity. This paper shows both stiffness and damping effect of the admittance control and frequency characteristics of the finger system using more precise estimation method of both velocity and acceleration. Although the stiffness and the damping effects are not improved, experimental results of frequency characteristics can be improved in high frequency field.
