Finger-Arm Coordination Control Method for Multiple Degrees of Freedom Robot

Summary

This paper proposes a method of controlling the coordination of the fingers and the arm when performing robot work which can be expressed as a sequence of continuous changes in positioning points of robot linger tips.

To establish a plan of coordinated lingers and arm movements, the evaluation function is determined by the charge of the angle of each linger and each joint, the charge angle of hand orientation and the amount of the wist movement. In this function, weighting is used so that the change in the linger posture is greater than the change in the arm posture. In the method used for adjusting the finger-arm coordination movements in the robot operation plan, an heuristic function is established for selecting an operation plan where independent quick movements of the robot arm without coordination with the lingers, is avoided and coordination with the lingers is attained when the arm moves.

The method mentioned above was tested in a case of the keyboard performance work using a multiple degree-of-freedom anthropomorphic robot. As a result, a path including smooth Linger-arm coordination movements, eimitaa to a performance conducted by the human, could be created automatically.