Robust Visual Feedback Control for Precise In-Hand Manipulation Using Parallel Soft Actuators

摘要

Soft robotic hands are reliable for grasping objects of various shapes. However, they perform poorly in the high-precision manipulation of grasped objects because the modeling and sensing of soft actuator deformation are complex. To overcome this problem, in a previous study, we proposed a robust visual feedback control method for precise in-hand manipulation using parallel soft actuators. This method enables precise in-hand manipulation without measuring the soft actuator deformations. Generally, in the feedback control of a parallel drive system, the actuator force is converted into the force/torque applied to the grasped object. The conversion matrix constantly changes depending on the position/orientation of the object and the contact points of the soft actuators with the object. Consequently, accurately measuring the conversion matrix is difficult. Therefore, we estimated it as a constant matrix in our previous studies, and its robustness was confirmed experimentally. However, its theoretical robustness was not analyzed sufficiently. Therefore, in this article, we discuss the robustness of the estimated constant matrix through a mathematical stability proof. Furthermore, we investigate the characteristics of the estimated drive matrix. Then, we perform a numerical robustness analysis. Finally, the robustness of the proposed method is studied via the above investigation and verification experiments.