Concurrent Grasping and Manipulation by Arm-Hand Coordinated Movements Based on Task-Distribution

摘要

This paper is concerned with concurrent grasping and manipulation by a robotic arm with a pair of fingers. In general, a robotic manipulator consists of two parts, an arm for manipulation and a hand for grasping, and therefore it arises a problem of undesired vibrations owing to combining two parts with different scales of inertia moments. This paper regards two parts as a single one, and proposes a control method enabling the robotic arm-hand system to simultaneously as well as agilely accomplish grasping and manipulation without peddling with the problem of undesired vibrations. The results of numerical computer simulation demonstrate that the proposed method is sufficiently effective in control of such a robotic arm-hand system and, in particular, is applicable to a case of executing plural tasks, grasping, regulating, and replacing a target object. It is concluded that in order to realize fluent and agile movements of the system special attentions in design of control signals should be paid to the wrist that combines the hand to the arm, and also to distribution of tasks to parts