モータレスロボットハンドの制御手法の提案

抄録

In this study, we constructed a control method for a robotic system using a motorless robotic hand, proposed in a previous study. Our research group has developed a robotic hand, driven by the rotation of the wrist of the robotic arm, leading to the robotic hand design without the motor. The developed robotic hand mechanism achieves the grasping and wrist rotation motions. These two motions are switched according to the grasping force applied to the fingers of the robotic hand and the operation of the wrist of the robotic arm. Thus, the control method to operate the position and posture of the robotic arm while maintaining the gripper state, i.e., grasping and opening, is required for the robotic system with the motorless robotic hand. This paper presents the control method and the experimental validation.