柔軟ハンドによる把持物体の高精度位置姿勢制御

抄録

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.