TY - GEN
T1 - Two-finger micro hand
AU - Tanikawa, Tamio
AU - Arai, Tatuo
AU - Ojala, Pasi
AU - Saeki, Masami
PY - 1995
Y1 - 1995
N2 - The dexterous micro manipulation system is developed for application in assembling micro machines, manipulating cells, and micro surgery. We have proposed a concept of a two-finger micro hand, and designed and built two types of hand modules based on parallel mechanisms. In this paper, we mainly discuss the structure of a two-finger micro hand. The structure of the two-finger micro hand is strongly related to the effective work space, or the common work space of two fingers as well as its cooperation control algorithms. Therefore we design the structure to be suitable for a two-finger micro hand, and made a prototype. And the control system for the micro hand should be robust in some disturbance for accurate position control. A H∞ controller is applied to the control system of the micro hand. The controller has a tuning parameter. By tuning the parameter, the characteristic of the control system is changed like a PID controller. In a general H∞ controller, the characteristics are conservative, however, good stability and fast response are obtained easily in our controller.
AB - The dexterous micro manipulation system is developed for application in assembling micro machines, manipulating cells, and micro surgery. We have proposed a concept of a two-finger micro hand, and designed and built two types of hand modules based on parallel mechanisms. In this paper, we mainly discuss the structure of a two-finger micro hand. The structure of the two-finger micro hand is strongly related to the effective work space, or the common work space of two fingers as well as its cooperation control algorithms. Therefore we design the structure to be suitable for a two-finger micro hand, and made a prototype. And the control system for the micro hand should be robust in some disturbance for accurate position control. A H∞ controller is applied to the control system of the micro hand. The controller has a tuning parameter. By tuning the parameter, the characteristic of the control system is changed like a PID controller. In a general H∞ controller, the characteristics are conservative, however, good stability and fast response are obtained easily in our controller.
UR - http://www.scopus.com/inward/record.url?scp=0029201997&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.1995.525515
DO - 10.1109/ROBOT.1995.525515
M3 - Conference contribution
AN - SCOPUS:0029201997
SN - 0780319656
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1674
EP - 1679
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - IEEE
T2 - Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3)
Y2 - 21 May 1995 through 27 May 1995
ER -
