Journal of the Robotics Society of Japan

1991

DOI: 10.7210/jrsj.9.401

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Cooperative Compliant Motion Control of Wrist and Arm.

Hiroshi Ishikawa²,

Chihiro Sawada³

et al.

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Cited by 4 publications

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Emulating the Motion of a Human Upper Limb: Controlling a Finger-arm Robot by using the Manipulability of its Finger

¹

,

²

,

³

et al. 2006

2006 IEEE International Conference on Robotics and Biomimetics

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Emulating the Motion of a Human Upper Limb: Controlling a Finger-arm Robot by using the Manipulability of its Finger

¹

,

²

,

³

et al. 2006

2006 IEEE International Conference on Robotics and Biomimetics

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Control of a Macro-Micro Robot System Using Manipulability of the Micro Robot

¹

,

²

,

³

et al. 2006

JSME Int. J., Ser. C

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A 3'DOF robot finger is fixed to the end-effector of a 6'DOF robot arm to construct a redundant macro-micro robot system that is able to emulate the finger-arm system of a human being. However, determining joint angles and velocities of a redundant robot system in a natural way remains a difficult issue. This paper describes a method to control the system so as to generate common motions emulating the hand-arm movement of a human. To achieve this purpose, the finger is primarily supposed to complete delicate local motions while the arm moves to assist the finger when the manipulability of the finger is too low and the system is about to miss the desired target. The effectiveness on motion generation and the relation between kinetic energy and manipulability by using the proposed method has been experimentally demonstrated and discussed.

Admittance Control of Multi-Finger-Arm Robot with Manipulability Control of Fingers under Arm Compensatory Movement(Mechanical Systems)

Hori¹,

et al. 2010

Trans.JSME(C)

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No abstract

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