Analysis and control algorithms for 5-bar finger mechanism with redundant actuators

여유구동을 지닌 5절 기구형 손 메카니즘의 성능해석 및 제어 알고리즘

A 5-bar structure with redundant actuators is proposed as a finger mechanism. It is shown that one additional redundant actuator greatly enhances the load handling capacity of the system. The actuator location should be carefully decided to maximize the performance enhancement. Furthermore, we develop stiffness and frequency control algorithms based on the internal loading created by redundant actuation. The effectiveness of these algorithms have been demonstrated by simulations.