Grasping and Manipulation by Robotic Arm/Multifingered-Hand Mechanisms.

摘要

A control scheme for grasping and manipulation by arm-hand mechanisms is proposed. The arm-hand mechanisms, discussed in this paper, consist of arm and multifingered hand, and they have the same feature as that of redundant macro-micro manipulator about manipulation. That is; 1) manipulation is possible not only by the arm but also by the hand, 2) the hand is suitable for compliant motion compared to the arm because of the small inertia, and the motion range of the arm is larger than that of the hand. The control scheme can utilize both of the merits of the arm and the hand. Simultaneously, it can realize secure grasping during manipulation. Several simulation results illustrate the validity of the proposed control scheme.