Admittance Control of Multi-Finger-Arm Robot with Manipulability Control of Fingers under Arm Compensatory Movement(Mechanical Systems)
نویسندگان
چکیده
منابع مشابه
Admittance Control of a Multi-Finger Arm Robot Using Manipulability of Fingers
Previous studies have proposed methods for admittance and impedance control for a finger-arm robot using the manipulability of the finger. Based on the previous theories, the authors have proposed an admittance control for a multifinger arm robot using the manipulability of the fingers in this study. Two 3-DOF fingers are attached to the end-effector of a 6DOF arm to configure a multi-finger ar...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 2010
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.76.655