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RoManSy 6 pp 311-321 | Cite as

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

  • S. Sugano
  • I. Kato

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.

Keywords

Finger Movement Hand Orientation Temporary Block Work Content Work Point 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Reference

  1. (1).
    S.C.Jacobsen et al. “The UTAH/M.I.T. Dextrous Hand: Work in Progress”, The International Journal of Robotics Research, Vol. 3, No. 4, 1984Google Scholar
  2. (2).
    T.Okada “Computer control of multi-jointed finger system”, Sixth Int. Joint Conf. on Artificial Intelligence, 1979Google Scholar
  3. (3).
    J.K.Salisbury et al. “Articulated Hands: Force control and Kinematic Issues”, The International Journal of Robotics Research, Vol. 1, No. 1, 1982Google Scholar
  4. (4).
    S.Sugano et al. “Keyboard Playing by an Anthropomorphic Robot” Theory and Practice of Robots and Manipulators ( The fifth CISM-IFToMM Symposium ), Kogan Page, 1985Google Scholar
  5. (5).
    S.Sugano et al. “Limb Control of the Robot Musician ‘WABOT-2’”, Int. Conf. on Advanced Robotics, 1985Google Scholar
  6. (6).
    S.Sugano et al. “Autonomous Limb Control for Information Processing Robots”, Bulletin of Science and Engineering Research Lab. 14o.112, WASEDA University, 1985Google Scholar

Copyright information

© Hermes, Paris 1987

Authors and Affiliations

  • S. Sugano
    • 1
  • I. Kato
    • 1
  1. 1.Department of Mechanical EngineeringWaseda UniversityTokyoJapan

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