Grasping and Manipulation by Robotic Arm/Multifingered-Hand Mechanisms
Grasping and Manipulation by Robotic Arm/Multifingered-Hand Mechanisms
复制标题
通过机械臂/多指手机构进行抓取和操作
DOI：
10.7210/jrsj.13.994
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发表时间：
1995
期刊：
影响因子：
--
通讯作者：
T. Yoshikawa
中科院分区：
文献类型：
--
作者：
K. Nagai;T. Yoshikawa
提出了一种臂手机构抓取与操作的控制方案。本文所讨论的臂手机构由手臂和多指手组成，具有冗余度宏微机器人的操作特点。也就是说，1）不仅可以通过臂而且可以通过手进行操纵，2）由于惯性小，手与臂相比适合于顺应运动，并且臂的运动范围大于手的运动范围。该控制方案可以利用手臂和手的优点。同时，在操作过程中可以实现安全的抓取。仿真结果验证了所提出的控制方案的有效性。
A control scheme for grasping and manipulation by arm-hand mechanisms is proposed. The arm-hand mechanisms, discussed in this paper, consist of arm and multifingered hand, and they have the same feature as that of redundant macro-micro manipulator about manipulation. That is; 1) manipulation is possible not only by the arm but also by the hand, 2) the hand is suitable for compliant motion compared to the arm because of the small inertia, and the motion range of the arm is larger than that of the hand. The control scheme can utilize both of the merits of the arm and the hand. Simultaneously, it can realize secure grasping during manipulation. Several simulation results illustrate the validity of the proposed control scheme.