Compliance Control of a Position Controlled Robotic Hand Using F/T sensor

Title
Compliance Control of a Position Controlled Robotic Hand Using F/T sensor
Authors
조준희김성균오용환오상록
Keywords
F/T Sensor; Compliance; Position Control; Robotic Hand
Issue Date
2011-11
Publisher
The 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2011)
Abstract
There are a variety of robotic hands with many different hardware configurations including many sensors. For a robotic hand, physical interaction between the hand and objects is an interesting point. Compliance control is of great importance in grasping arbitrary object. In this paper, compliance control of position controlled robotic hand is attempted with external sensor on the finger tip. Utilizing a F/T sensor, sensor compensation first and then gravity compensation are executed. Overall system and algorithm are analyzed with the proposed controllers. For validating the proposed method, low-pass filter (LPF), sensor initial calibration are conducted and showed competent results.
URI
http://pubs.kist.re.kr/handle/201004/41045
Appears in Collections:
KIST Publication > Conference Paper
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