Dynamic Characteristics in Cooperative Admittance Control of a Multi-Finger-Arm Robot with Finger Manipulability Control
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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The human upper limb possesses a high degree of freedom (DOF) and its redundant structure permits greater flexibility in various dexterous manipulations. The simplest structure of a multifingered robot arm is constructed by fixing a robot finger onto the end effector of a robot arm. A robot with such a structure is also called a macro-micro manipulator (Nagai & Yoshigawa, 1994, 1995; Yoshikawa,...
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This paper investigates the employment of Artificial Neural Networks (ANN) for a multi-finger robot hand manipulation in which the object motion is defined in task-space with respect to six Cartesian based coordinates. The approach followed here is to let an ANN learn the nonlinear functional relating the entire hand joints positions and displacements to object displacement. This is done by con...
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Our novel prosthetic hand is controlled by extrinsic flexor muscles and tendons of the metacarpal-phalangeal joints. The hand uses tendon-activated pneumatic (TAP) control and has provided most subjects, including amputees and those with congenital limb absence, control of multiple fingers of the hand. The TAP hand restores a degree of natural control over force, duration, and coordination of m...
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هلاقم تاعلاطا هدیکچ لماک یشهوژپ هلاقم :تفایرد 23 دنفسا 1392 :شریذپ 15 تشهبیدرا 1393 :تیاس رد هئارا 19 رهم 1393 رد اب هلاقم نیا رد يور مسج لمح يارب ریسم بیقعت یقیبطت لرتنک ،مسج نتفرگ نیح رد مسج و تابر کی هجنپ نیب شزغل ناکما نتفرگ رظن کت تابر کی طسوت نیمز رارق یسررب دروم یتشگنا یسررب يارب یبسانم هنومن ،متسیس نیا .تسا هتفرگ شور ياه فلتخم لیلحت دننام یحارط لرتنک هدننک اه رد تابر متسیس ماسجا ...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 2013
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.79.5010