Adaptive force control in robot manipulation with consideration of characteristics of objects. (1st report Grasping control of gripper by the adaptive hybrid force control)

摘要

In this paper, a method of force control applicable to robotic manipulations for manipulators and grippers is presented, with a consideration of the characteristics of objects based on adaptive control, by demonstrating experiments in a gripper system. This adaptive holding control method of a gripper, also applicable to any type of manipulator, whose control is based on the input-output position control due to the high reduction gear at joints, is shown so that it is possible to take into account the characteristics of objects which are brought about in the closed loop dynamics of force and position control. The gripper can hold objects adaptively with less impact forces against objects than before, hence it does not damage objects, unlike conventional grippers. Thus, the range of applicability of force control can be inceased much more with consideration of the characteristics of objects.