ボールネジ機構を考慮したロボット指の制御

抄録

Robot hands that can grasp heavy objects are required in various fields such as disaster site and production site. Many researchers developed a wide variety of the high grasping force robot hands. Authors developed robot hands using a transmission mechanism of a ball screw. The feature of the robot hand was high precision positioning and high grasping force. The robot hand had non-linear relation between joint angles and motor angles. This paper proposes a joint angle control method considering characteristic of transmission mechanism of the ball screw. Experiment results show the effectiveness of the proposed control methods using the robot hand.