Admittance Control of a Multi-Finger Arm Based on Manipulability of Fingers
In the previous studies, admittance control and impedance control for a finger-arm robot using the manipulability of the finger were studied and methods of realizing the controls have been proposed. In this study, two 3-DOF fingers are attached to the end-effector of a 6-DOF arm to configure a multi...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2011-09-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/45705 |
| _version_ | 1818118254350041088 |
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| author | Jian Huang Takayuki Hori Nozomi Toyoda Tetsuro Yabuta |
| author_facet | Jian Huang Takayuki Hori Nozomi Toyoda Tetsuro Yabuta |
| author_sort | Jian Huang |
| collection | DOAJ |
| description | In the previous studies, admittance control and impedance control for a finger-arm robot using the manipulability of the finger were studied and methods of realizing the controls have been proposed. In this study, two 3-DOF fingers are attached to the end-effector of a 6-DOF arm to configure a multi-finger arm robot. Based on the previous methods, the authors have proposed an admittance control for a multi-finger arm robot using the manipulability of the fingers in this study. Algorithms of the averaging method and the mini-max method were introduced to establish a manipulability criterion of the two fingers in order to generate a cooperative movement of the arm. Comparison of the admittance controls combined with the top search method and local optimization method for the multi-finger arm robot was made and features of the control methods were also discussed. The stiffness control and damping control were experimentally evaluated to demonstrate the effectiveness of the proposed methods. |
| first_indexed | 2024-12-11T04:51:23Z |
| format | Article |
| id | doaj.art-a592634a1c8f42efad56462b53a0259e |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-11T04:51:23Z |
| publishDate | 2011-09-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-a592634a1c8f42efad56462b53a0259e2022-12-22T01:20:23ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142011-09-01810.5772/4570510.5772_45705Admittance Control of a Multi-Finger Arm Based on Manipulability of FingersJian Huang0Takayuki Hori1Nozomi Toyoda2Tetsuro Yabuta3 School of Engineering, Kinki University Graduate School of Engineering, Yokohama National University Graduate School of Engineering, Yokohama National University Graduate School of Engineering, Yokohama National UniversityIn the previous studies, admittance control and impedance control for a finger-arm robot using the manipulability of the finger were studied and methods of realizing the controls have been proposed. In this study, two 3-DOF fingers are attached to the end-effector of a 6-DOF arm to configure a multi-finger arm robot. Based on the previous methods, the authors have proposed an admittance control for a multi-finger arm robot using the manipulability of the fingers in this study. Algorithms of the averaging method and the mini-max method were introduced to establish a manipulability criterion of the two fingers in order to generate a cooperative movement of the arm. Comparison of the admittance controls combined with the top search method and local optimization method for the multi-finger arm robot was made and features of the control methods were also discussed. The stiffness control and damping control were experimentally evaluated to demonstrate the effectiveness of the proposed methods.https://doi.org/10.5772/45705 |
| spellingShingle | Jian Huang Takayuki Hori Nozomi Toyoda Tetsuro Yabuta Admittance Control of a Multi-Finger Arm Based on Manipulability of Fingers International Journal of Advanced Robotic Systems |
| title | Admittance Control of a Multi-Finger Arm Based on Manipulability of Fingers |
| title_full | Admittance Control of a Multi-Finger Arm Based on Manipulability of Fingers |
| title_fullStr | Admittance Control of a Multi-Finger Arm Based on Manipulability of Fingers |
| title_full_unstemmed | Admittance Control of a Multi-Finger Arm Based on Manipulability of Fingers |
| title_short | Admittance Control of a Multi-Finger Arm Based on Manipulability of Fingers |
| title_sort | admittance control of a multi finger arm based on manipulability of fingers |
| url | https://doi.org/10.5772/45705 |
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