로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제10권4호
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  • Pages.179-185
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  • 2015
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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여유자유도를 가지는 인간형 로봇 손의 자세 및 힘 제어

Force and Pose control for Anthropomorphic Robotic Hand with Redundancy

  • 투고 : 2015.01.02
  • 심사 : 2015.03.02
  • 발행 : 2015.11.30
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초록

The versatility of a human hand is what the researchers eager to mimic. As one of the attempt, the redundant degree of freedom in the human hand is considered. However, in the force domain the redundant joint causes a control issue. To solve this problem, the force control method for a redundant robotic hand which is similar to the human is proposed. First, the redundancy of the human hand is analyzed. Then, to resolve the redundancy in force domain, the artificial minimum energy point is specified and the restoring force is used to control the configuration of the finger other than the force in a null space. Finally, the method is verified experimentally with a commercial robot hand, called Allegro Hand with a force/torque sensor.

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과제정보

연구 과제 주관 기관 : National Research Foundation of Korea(NRF)

참고문헌

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피인용 문헌

  1. Singularity Avoidance Algorithms for Controlling Robot Manipulator: A Comparative Study vol.12, pp.1, 2017, https://doi.org/10.7746/jkros.2017.12.1.042