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 arm robot. The averaging method and the mini-max method for two fingers were introduced to establish a manipulability criterion for generating a cooperative movement of the arm. Admittance control combined with the top search method (TSM) and local optimization method (LOM) for the multi-finger arm robot were also studied. The stiffness control were experimentally evaluated to demonstrate the effectiveness of the proposed method.