指先力推定法に基づく2指ロボットハンドによるセンサレス制御

抄録

This paper proposes a novel sensor-less force control method by a two-fingered robotic hand whose mechanism combined with wire-drive and Twisted round-belt Actuator(TbA). This drive mechanism enables to produce contraction forces by twisting a small-diameter elastic round-belt mounted on its mechanism. First, we explain the basic mechanism of the articulated two-fingered robotic hand having TbA with wire-drive. Second, we show a three-dimensional contraction force model obtained on the basis of two parameters such as number of twist and tension of the belt. Finally, in order to derive a sensor-less force control method, we apply the force model into the controller of robotic hand, and demonstrate tracking control for step-like force and sinusoidal force references in the variation of frequency.