Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

A Compliance Control Method for Robot Hands with Consideration of Decoupling among Fingers/Joints

손가락/관절 간의 기구학적 독립을 고려한 로봇 손의 컴플라이언스 제어 방법

  • Kim, Byoung-Ho ;
  • Yi, Byung-Ju (Dept. of Electronic computer Engineering, Hanyang University) ;
  • Suh, Il-Hong (Dept. of Electronic computer Engineering, Hanyang University) ;
  • Oh, Sang-Rok (Intelligent Control Research Center, Korea Institute of Science and Technology)
  • 김병호 (한양대학교 전자컴퓨터공학부, 한국과학기술연구원 지능제어연구센터) ;
  • 이병주 (한양대학교 전자컴퓨터공학부) ;
  • 서일홍 (한양대학교 전자컴퓨터공학부) ;
  • 오상록 (한국과학기술연구원 지능제어연구센터)
  • Published : 2000.07.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper for an object grasped by a robot hand to work in stiffness control domain we first investigate the number of fingers for successful stiffness modulation in the object operational space. Next we propose a new compliance control method for robot hands which consist of two steps. RIFDS(Resolved Inter-Finger Decoupling Solver) is to decompose the desired compliance characteristic specified in the op-erational space into the compliance characteristic in the fingertip space without inter-finger coupling and RIJDS(Resolved Inter-Joint Decoupling Solver) is to decompose the fingertip space without inter-finger coupling and RIJDS(Resolved inter-Joint Decoupling Solver) is to decompose the compliance characteristic in the finger-tip space into the compliance characteristic given in the joint space without inter-joint coupling. Based on the analysis results the finger structure should be biominetic in the sense that either kniematic redundancy or force redundancy are required to implement the proposed compliance control scheme, Five-bar fingered robot hands are used as an illustrative example to implement the proposed compliance control method. To show the effectiveness of the proposed compliance control method simulations are performed for two-fingered and three-fingered robot hands.

Keywords

References

  1. T. Yoshikawa, and X.-Z. Zheng, 'Coordinated dynamic hybrid position/force control for multiple robot manipulators handling one constrained object,' Int. Jour. of Robotics Research, vol. 12, no. 3, pp. 219-230, 1993 https://doi.org/10.1177/027836499301200302
  2. T. Hasegawa, T. Matsuoka, T. Kiriki, and K. Honda, 'Manipulation of an object by a multifingered hand with multi-sensors,' Proc. of Int. Conf. on Industrial Electronics, Control, and Instrumentation, pp. 174-179, 1996 https://doi.org/10.1109/IECON.1996.570948
  3. V. Nguyen, 'Constructing force-closure grasps in 3-D,' Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 240-245, March, 1987
  4. M. R. Cutkosky, and I. Kao, 'Computing and controlling the compliance of a robotic hand,' IEEE Trans. on Robotics and Automation, vol. 5, no. 2, pp. 151-165, 1989 https://doi.org/10.1109/70.88036
  5. Y. T. Lee, H.-R. Choi, W. K. Chung, and Y. Youm, 'Stiffness control of a coupled tendon-driven robot hand,' IEEE Control Systems Magazine, vol. 14, no. 5, pp. 10-19, Oct., 1994 https://doi.org/10.1109/37.320882
  6. B.-R. So, B.-J. Yi, S.-R. Oh, and I. H. Suh, 'An independent joint-based compliance control method for a five-bar finger mechanism via redundant actuators,' Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2140-2146, 1999 https://doi.org/10.1109/ROBOT.1999.770423
  7. R. A. Freeman and D. Tesar, 'Dynamic modeling of serial and parallel mechanisms/robotics systems, part I-methodology, part II-applications,' Proc. 20th ASME Biennial Mechanisms Conf. Orlando, FL, Trends and Development in Mechanisms, Machines, and Robotics. DE-vol. 15-2, pp. 7-21, 1988
  8. B.-J. Yi, I. D. Walker, D. Tesar, and R. A. Freeman, 'Geometric stability in force control,' Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 281-286, 1991 https://doi.org/10.1109/ROBOT.1991.131588
  9. B.-J. Yi, I. H. Suh, and S.-R. Oh, 'Analysis of a five-bar finger mechanism having redundant actuators with applications to stiffness and frequency modulation,' Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 759-765, 1997