Coordinating control of multifingered robot hand with kinetostatic filtering

摘要

This paper proposes a new control scheme for a coordinated motion and force control of multi-fingered robot hand. Proposed control scheme can achieve simultaneous control of the position of a target object and a so-called 'internal force' which does not affect the motion of the object. Based on 'kinetostatic filtering method' which eliminates a element of internal force from joint angle feedback signal, proposed controller can achieve internal force regulation for the fingers which have kinematical redundancy. Computer simulation results and experimental results illustrates the effectiveness of proposed scheme.