Abstract
Cooperative control algorithms for a finger-arm robot composed of a 3-DOF finger and 6-DOF arm have previously been proposed based on the movement of the human hand-arm system. In these algorithms, a finger-arm robot completes a constrained task by integrating admittance and impedance control with manipulability control of the finger. The finger manipulability is controlled both by an approximate global search, i.e., the top search method, and by a local optimization method. In this paper, these methods are developed further by relating them to dynamic movement. We also discuss the feasibility of virtual dynamics and clarify the dynamic characteristics in terms of the control algorithms. The dynamic characteristics are verified with virtual external force as shown in experiments with a redundant multi-finger-arm robot. Experimental results are presented for a multi-finger-arm robot to simultaneously achieve manipulability control and admittance control in a three-dimensional space. The developed methods responded to more dynamic movement.
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