ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1P2-H12
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柔軟ハンドによる把持物体の高精度位置姿勢制御
*森 佳樹Mingzhu Zhu金 慧鐘和田 晃川村 貞夫
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There is a growing need for robot hands that can grip and manipulate various shape objects. In this paper, we propose a robot hand system which has a flexible actuator group and robust visual feedback control. The flexible actuator is made by a 3D printer capable of using different elastic materials and is pneumatically driven. A new visual feedback control method is effectively utilized by estimating the linear relation between the resultant force/torque and the actuator input. By using this proposed method, the manipulation of the object in a plane is realized. We experimentally confirm that the position deviation is about 0.30 mm and the orientation deviation is about 0.03 rad.

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