Grasping Force Control of a Robotic Hand based on a Torque-Velocity Transformation Using F/T Sensors with Gravity Compensation

Title
Grasping Force Control of a Robotic Hand based on a Torque-Velocity Transformation Using F/T Sensors with Gravity Compensation
Authors
조준희김성균오용환오상록
Keywords
Grasping; Force Control; Robot Hand; Torque-Velocity Transformation
Issue Date
2013-11
Publisher
Annual Conference of the IEEE Industrial Electronics Society(IECON)
Abstract
In this paper, the grasping force control of a robotic hand based on a torque to velocity transformation using force/torque (F/T) sensors with gravity compensation is addressed. The force controller is designed and the task force is transformed into command torque. Then, the torque is converted into command velocity for the velocity servo control through torque to velocity transformation. Inner velocity controller is modeled, and the additional torque due to the gravity effect is augmented using superposition principle; then, the analysis of the overall system and controller is conducted through the grasping experiment. As a result of this, competent results are obtained.
URI
http://pubs.kist.re.kr/handle/201004/46841
Appears in Collections:
KIST Publication > Conference Paper
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE