세 손가락 로봇 매니퓰레이터 임피던스 제어를 통한 변형 가능 물체 파지

다국어 초록 (Multilingual Abstract)

For trimming cooking ingredients, assembling parts, picking fruits, it is essential to handle objects without applying an excessive pressure or force. This paper presents a three finger robot manipulator system and an impedance control approach to perform grasping tasks for deformable objects. First, a 9-DoF three finger manipulator with 6-axis force/torque sensor at each finger tip was developed. Next, the equation of motion for the developed finger manipulator and corresponding control laws, an impedance control a PD-control, were derived. Afterward, we defined a metric which will be utilized to quantify the deformity of the controlled object during the deformable object grasping task. In our experiments, grasping tasks for a paper cup and a paper cylinder were performed under the impedance control and the PD-control, respectively. The followed comparative analysis revealed that the impedance control outperformed the PD-control in terms of a minimal deformation to grasp the two deformable objects. Consequently, the feasibility of the developed three finger robot manipulator for handling objects with various stiffness and mass in a daily living was substantiated.