Advanced Task Realization by Robot Fingers Using Mode Quarry Matrix

There is a vast amount of environmental information in motion systems. The mode quarry matrix (MQM) is used to obtain the necessary information for motion control. Interaction mode control is one of the control methods using MQM. There are few studies on conventional mode control that consider the design method of MQM in detail. In this paper, we propose the design method of MQM. The proposed method is based on the kinematics of robots and the structure of environments. Some examples of robot manipulation are presented. This paper contributes to the expansion of the versatility of the control method using MQM.