Admittance Control of Multi-Finger-Arm Robot with Manipulability Control of Fingers under Arm Compensatory Movement(Mechanical Systems)

摘要

Our previous studies proposed an admittance and an impedance control method of a finger-arm robot with a 3DOF finger and 6DOF arm robot to guarantee the finger manipulability under arm compensatory movement, whose results show that satiny movement of the finger-arm robot was realized in constrained space. Although these results were applied for one finger system, it is necessary to extend these methods for a multi-finger system. This paper shows an admittance control method and its results of multi-finger-arm robot to guarantee its finger's manipulability. Both averaging method and mini-max method are examined to evaluate its manipulability of multi-finger. Both results are discussed in the viewpoint of both stiffness and viscosity and finger's manipulability.