抄録
A seven -link dual-manipulator robot with three-fingered hands is proposed with application of vision and impedance controls to produce human-like skills capability for the manipulation of automatic works. First, a stereo camera fixed on top of the robot provides an overview of position of objects placed on a worktable to move the arm closer to the objects. Two case studies have been assigned; in the first case study, the control system of robot hand based on LQI (Linear quadratic integral) control was designed to operate the hand for autonomous work, while the second case, a task of opening a beer bottle was designed to apply this method in the position based impedance control.
