Contact Force Control of a Robotic Hand Using F/T Sensory Feedback with a Rigid Object
- Contact Force Control of a Robotic Hand Using F/T Sensory Feedback with a Rigid Object
- 조준희; 김성균; 오용환; 오상록
- Robotic hand; Force control; Grasping; Velocity control
- Issue Date
- IEEE Int. Conf. on Automation Science and Engineering(CASE)
- , 432-437
- There have developed various robotic hands since
the 1960’s with the control theories. For a robotic hand,
manipulating objects as human does is a quite difficult story
and grasping or pinching objects should be preceded before manipulation.
Those operations are based on interaction between
robotic hand and arbitrary objects. It means how strongly
a robotic hand grasps arbitrary object with stable and unbreaking
motion when interactions occur. This paper attempts
a grasping force control of a velocity controlled robotic hand
using external Force/Torque (F/T) sensors. This control uses
F/T sensor feedback and produces a command torque. Then,
velocity-torque transformer converts a command torque into
an input velocity to the robotic hand system. The algorithm
is analyzed through an experiment that shows how a grasping
force affects arbitrary objects and obtained competent results.
- Appears in Collections:
- KIST Publication > Conference Paper
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