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Coordinated Control of Multi-Fingered Robot Hand Handling an Object in Contact with Environment

Research Project

Project/Area Number 01550207
Research Category

Grant-in-Aid for General Scientific Research (C)

Allocation TypeSingle-year Grants
Research Field 機械力学・制御工学
Research InstitutionKyoto University

Principal Investigator

YOSHIKAWA Tsuneo  Kyoto Univ., Fac. of Eng., Professor, 工学部, 教授 (60026177)

Co-Investigator(Kenkyū-buntansha) NAGAI Kiyoshi  Ritsumeikan Univ., Fac. of Sci. & Eng., Instructor, 理工学部, 助手 (40198289)
YOKOKOHJI Yasuyoshi  Kyoto Univ., Fac. of Eng., Instructor, 工学部, 助手 (30202394)
Project Period (FY) 1989 – 1990
Project Status Completed (Fiscal Year 1990)
Budget Amount *help
¥2,000,000 (Direct Cost: ¥2,000,000)
Fiscal Year 1990: ¥600,000 (Direct Cost: ¥600,000)
Fiscal Year 1989: ¥1,400,000 (Direct Cost: ¥1,400,000)
KeywordsRobot hand / Cooperative control / Force control / Hybrid Control
Research Abstract

For wider applications of robot manipulators in the future, development of multifingered robotic hands that can perform dexterous manipulation like human hands, is essential. The objective of this research is (1) to establish a cooperative control algorithm of a multifingered robot hand for controlling simultaneously the relative motion and the contact force of an object that is grasped by this robot hand and is in contact with the environment, and (2) to verify the validity of this control algorithm. The results obtained by this research are summarized as follows :
1. Establishment of Control Algorithm : Extending the dynamic hybrid control approach proposed by one of the present investigators for single robot manipulator, a control algorithm has been established which will be called the dynamic cooperative hybrid control algorithm. This algorithm controls the positional trajectory of the object, the internal force applied by the hand to the object, and the contact force between the ob … More ject and the environment simultaneously so that they will trace the desired position and force trajectories.
2. Fabrication of a Three-fingered Hand : A hand with three fingers, each of which is a serial link mechanism with three degrees of freedom has been fabricated. The total length of the finger is 26 cm. A small scale three-axis force sensor to be attached to the tip of each finger has also been designed and fabricated.
3. Development of Hand Control System : Using a 32 bit personal computer, a hand controller has been developed along with control software. A sampling time of 4 ms has been achieved.
4. Experimental Verification of the Control Algorithm : Preliminary experiments of grasping an object by two fingers of the developed hand and pressing it against a plain constraint surface have been successfully performed. We believe that the objective of this research project, development and verification of an algorithm for cooperative control of multifingered robot hands in manipulating objects in contact with the environment, has been reached by the above results. Experiment using three fingers has been left as a future research topic. Less

Report

(3 results)
  • 1990 Annual Research Report   Final Research Report Summary
  • 1989 Annual Research Report
  • Research Products

    (18 results)

All Other

All Publications (18 results)

  • [Publications] 吉川 恒夫,鄭 心知: "拘束運動下にある対象物の複数台ロボットによる協調ハイブリッド制御" 日本ロボット学会第7回学術講演会予稿集. 2. 833-836 (1989)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] T.Yoshikawa&X.Z.Zheng: "Coordinated Dynamic Hybrid Position/Force Control for Multiple Robot Monipulators Handling One Constrained Object" Proc.of 1990 IEEE Int.Conf.on Robotics and Automation. 2. 1178-1183 (1990)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] 吉川 恒夫 鄭 心知: "拘束運動下にある対象物の複数台ロボットによる協調ハイブリッド制御" システム制御情報学会論文誌. 3ー10. 326-334 (1990)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] T.Yoshikawa&K.Nagai: "Manipulating and Grasping Forces in Manipulation by MultiーFingered Robot Hand" IEEE J.Robotics and Automation. 7ー1. 67-77 (1991)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] T.Yoshikawa,Y.Yokokohji&T.Toyoshima: "Efficient Computational Algorithms for Trajectory Control of MultiーArm Space Manipulators" Proc. Int. Symp. on Artificial Intelligence, Robotics and Automation in Space (iーSAIRAS). 303-306 (1990)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] T.Yoshikawa: "Foundations of RoboticsーAnalysis and Control" MIT Press, 285 (1990)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] T. Yoshikawa & X. Z. Zheng: "Dynamic Hybrid Position/Force Control for Coordinated Multiple Robot Manipulators Handling One Constrained Object" Proc. of the 7th Conf. of Robotics Soc. of Japan. 833-836 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] T. Yoshikawa & X. Z. Zheng: "Coordinated Dynamic Hybrid Position/Force Control for Multiple Robot Manipulators Handling One Constrained Object" Proc. of 1990 IEEE Int. Conf. on Robotics and Automation. 1178-1183 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] T. Yoshikawa & X. Z. Zheng: "Coordinated Dynamic Hybrid Position/Force Control for Multiple Robot Manipulators Handling One Constrained Object" System, Control and Information. 3-10. 326-334 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] T. Yoshikawa & K. Nagai: "Manipulating and Grasping Forces in Manipulation by Multi-Fingered Robot Hand" IEEE J. Robotics and Automation. 7-1. 67-77 (1991)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] T. Yoshikawa, Y. Yokokohji & T. Toyoshima: "Efficient Computational Algorithms for Trajectory Control of Multi-Arm Space Manipulators" Proc. Int. Symp. on Artificial Intelligence, Robotics and Automation in Space. (i-SAIRAS). 303-306 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] T. Yoshikawa: "Foundations of Robotics-Analysis and Control pp. 285, MIT Press"

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] 吉川 恒夫,鄭 心知: "拘束運動下にある対象物の複数台ロボットによる協調ハイブリッド制御" システム制御情報学会論文誌. 3ー10. 16-24 (1990)

    • Related Report
      1990 Annual Research Report
  • [Publications] Tsuneo Yoshikawa & Kiyoshi Nagai: "Manipulating and Grasping Forces in Manipulation by MultiーFingered Robot Hand" IEEE J.Robotics and Automation. 7ー1. 67-77 (1991)

    • Related Report
      1990 Annual Research Report
  • [Publications] Tsuneo Yoshikawa,Yasuyoshi Yokokohji & Takeshi Toyoshima: "Efficient Computational Algorithms for Trajectory Control of MultiーArm Space Manipulators" Proc.Int.Symp.on Artificial Intelligence,Robotics and Automation in Space(iーSAIRAS). 303-306 (1990)

    • Related Report
      1990 Annual Research Report
  • [Publications] Tsuneo Yoshikawa: "Foundations of RoboticsーAnalysis and Control" MIT Press, 285 (1990)

    • Related Report
      1990 Annual Research Report
  • [Publications] 吉川恒夫,鄭心知: "拘束運動下にある対象物の複数台ロボットによる協調ハイブリッド制御" 日本ロボット学会第7回学術講演会予稿集. 2. 833-836 (1989)

    • Related Report
      1989 Annual Research Report
  • [Publications] T.Yoshikawa,X.Z.Zheng: "Coordinated Dynamic Hybrid Position/Force Control for Multiple Robot Manipulators Handling One Constrained Object" Proceedings of 1990 IEEE Int.Conf.on Robotics and Automation. (1990)

    • Related Report
      1989 Annual Research Report

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Published: 1989-04-01   Modified: 2016-04-21  

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