Wire driven robot hand

摘要

The basic concept of a wire driven robot hand is proposed. A hand with five fingers and three links is actuated by wires inserted in the fingers. The arm is actuated two dimensionally using a wire and pulley drive mechanism. The wrist is suspended, and actuated by wires. It was confirmed that vibration characteristics of the arm drive system changed depending on wrist position. The change in vibration characteristics was compensated by gain scheduling control in which the control gain was adjusted to wrist position. Observer based optimal control was utilized to reduce the arm vibration.