A unified control scheme for a whole robotic arm-fingers system in grasping and manipulation
A unified control scheme for a whole robotic arm-fingers system in grasping and manipulation
复制标题
整个机械臂-手指系统抓取和操纵的统一控制方案
DOI：
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发表时间：
2006
期刊：
影响因子：
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通讯作者：
Morio Yoshida
中科院分区：
文献类型：
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作者：
J. Bae;S. Arimoto;R. Ozawa;M. Sekimoto;Morio Yoshida
本文提出了一种新的控制方法，使具有一对两自由度机械臂的机械臂能够协调地执行各种叠加任务。与以往提出的手臂-手系统采用单独设计来控制手臂和手等机器人各部分的传统控制方法不同，该方法为整个机械臂-手指系统的运动设计了统一的单一控制方案。假设指尖是刚性的，指尖与目标物体之间存在滚动约束，系统的整个运动被限制在水平面上。数值计算机仿真结果表明，该方法对整个机械臂-手指系统的控制是足够有效的，尤其适用于基于叠加原理的控制信号合成的叠加任务，即抓取、调节和替换目标对象。结论：在控制信号的设计中，应特别注意将手指部分与手臂相结合的手腕
This paper proposes a novel control method for enabling a robotic arm with a pair of two degrees of freedom (DOFs) robotic fingers as an endeffector to execute a variety of superimposed tasks in a coordinated way. Differently from conventional control methods previously proposed for arm-hand systems that adopt a separate design to control each robotic part, such as an arm and a hand, the proposed method designs a unified single control scheme for movements of the whole robotic arm-fingers system. It is assumed that finger-tips are rigid and there are rolling constraints between the finger-tips and a target object, and whole motion of the system is confined to the horizontal plane. The results of numerical computer simulation demonstrate that the proposed method is sufficiently effective in control of such a whole robotic arm-fingers system, and in particular is applicable to superimposed tasks, grasping, regulating, and replacing a target object through composition of the control signal based on the principal of superposition. It is concluded that special attentions in design of control signals should be paid to the wrist that combines the finger parts to the arm