抄録
An artificial hand with many joints should be able to move avoiding obstacles under the operator's command. Some reports have been presented on the route finding method of the machine and its simulation but they have dealt with only two dimensional movements. Moreover, the movement of a hand must be considered not as that of a point but as that of the space occupied by the finger and the arm parts. Hence, the existing methods cannot be applied immediately to control the hand to move without hitting obstracles in the space.
At first, three methods are presented to evaluate the controlled variables of joints working in the space without any obstacle. The two are the application of nonlinear programming technique, the SUMT and the gradient projection. According to the simulation, both are better than the previous methods to date but the gradient projection is much superior to the SUMT. The third method, utilizing the geometrical characteristics of the artificial hand, has proved to be the best.
Then an algorithm for route finding in the space having many obstacles are presented. Segmenting the space into blocks, the problem is transformed to the one finding the sequence of blocks through which the arm and finger pass. It is ascertained by calculation and experiment that the method is effective for the control to drive the hand to any point in the working space, avoiding obstacles, and is also practical in point of computer time and memory.
