近接覚センサを搭載したロボットハンド・アームによる衝撃緩和動作

抄録

Preemptive adaptation by using proximity sensing has been developed for rhe robots in unknown environments. We forcus on contact transition motions with impact reduction for robot arm and finger which have insufficient back drivability to be executed force control. Comparing simulation and experimental results, we examine the differences in the responsiveness and strokes of the two manipulators, and the motions are evaluated in terms of reduction of contact force and relative velocity. We also propose two control methods to generate same motions for manipulator consisting of a finger and arm in serial construction which have different characteristics. In addition, we implement the methods for the manipulator and evaluate the motions.