Computer Control of Multijointed Finger System for Precise Object-Handling

The computer control of a multijointed finger system is discussed. First, an overall view of the system is given, and the optimum operational direction of the fingers for manual tasks from their motional structure is determined. Primitive programs prepared for this system also are described. Second, the cooperative motion of two fingers is analyzed and control procedures are constructed for the fingers for locating objects at a desired position and in a desired orientation precisely under the condition such that each fingertip is considered globe-shaped. The cooperative motion of two fingers generating simultaneous finger operations is studied only in a situation in which the relative positions of the fingers and the grasped object are kept the same as those in the initial state. Third, the programming of several manual tasks is discussed, and experimental results are presented which verify the success made toward the programmable automation of manual tasks by multijointed fingers.