Contact motion control of a micro operation hand

Force control is required in dexterous micro operation of small mechanical parts and biological objects. Our research aims at the development of micro operation hands. For this purpose a finger subsystem with a lever mechanism and magnetic actuators were developed and applied to contact motion task. In this paper, characteristics of the mechanism and actuators are analyzed and it is shown that some nonlinear terms deteriorate the positioning accuracy even in free motion. Friction apparently influences positioning accuracy in contact motion. A motion control system which compensates for these disturbances was designed and applied to drawing tasks of micro figures with the size less than 1 mm