1990 Fiscal Year Final Research Report Summary
Coordinated Control of Multi-Fingered Robot Hand Handling an Object in Contact with Environment
| Project/Area Number |
01550207
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| Research Category |
Grant-in-Aid for General Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Research Field |
機械力学・制御工学
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| Research Institution | Kyoto University |
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Principal Investigator |
YOSHIKAWA Tsuneo Kyoto Univ., Fac. of Eng., Professor, 工学部, 教授 (60026177)
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| 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)
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| Project Period (FY) |
1989 – 1990
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| Keywords | Robot hand / Cooperative control / Force control / Hybrid Control |
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| 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
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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
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