各関節独立制御可能なロボットフィンガーの開発

抄録

The more joints a robot arm has, the more calculations are required. If one tries to make a humanoid robot, the amount of computation for control becomes enormous and control becomes difficult. Therefore, we propose a control theory using exponential coordinates. We believe that the use of exponential coordinates will facilitate the control of tree-type robots, which has been considered difficult with conventional control methods. To demonstrate the above theory using exponential coordinates, we will design a robot finger that can control each joint.