A joint angle sensorless grasping control on two-fingered robot hands

Ken Ichi Sonoda, Akira Shimada

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper introduces a sensor-less grasping control technique on two-finger robot hands with visual feedback control. A great number of robot hands have been developed and most of the hands mount many kind of sensors, such as rotary encoders, tactile sensors, and force sensors. However, use of the many sensors increase the cost of robot hands and decrease the reliance. On the other hand, when we observe and assemble some object carefully, we gaze at it but not watch our fingers. Thenfore, as an analogy, robot hands for observationa or assembling may not always need the jount angle sennsors if the system has some vision sensor. Meanwhile, Shimada et.al. have presented an unique sensorless control technique for electric motor driven mechanical systems. It is useful and easy to install but it has been developed only for single digree of freedom systems. Then, we try to extend the sensorless control technique to practical multi-finger robot hand systems with some vision systems. This paper describes the basic technique and show some simulation results for evaluation of validity.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages774-779
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata
Duration: 2010 Mar 212010 Mar 24

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CityNagaoka, Niigata
Period10/3/2110/3/24

Fingerprint

End effectors
Robots
Sensors
Electric motors
Feedback control
Sensorless control
Costs

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Sonoda, K. I., & Shimada, A. (2010). A joint angle sensorless grasping control on two-fingered robot hands. In International Workshop on Advanced Motion Control, AMC (pp. 774-779). [5464029] https://doi.org/10.1109/AMC.2010.5464029

A joint angle sensorless grasping control on two-fingered robot hands. / Sonoda, Ken Ichi; Shimada, Akira.

International Workshop on Advanced Motion Control, AMC. 2010. p. 774-779 5464029.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sonoda, KI & Shimada, A 2010, A joint angle sensorless grasping control on two-fingered robot hands. in International Workshop on Advanced Motion Control, AMC., 5464029, pp. 774-779, 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010, Nagaoka, Niigata, 10/3/21. https://doi.org/10.1109/AMC.2010.5464029
Sonoda KI, Shimada A. A joint angle sensorless grasping control on two-fingered robot hands. In International Workshop on Advanced Motion Control, AMC. 2010. p. 774-779. 5464029 https://doi.org/10.1109/AMC.2010.5464029
Sonoda, Ken Ichi ; Shimada, Akira. / A joint angle sensorless grasping control on two-fingered robot hands. International Workshop on Advanced Motion Control, AMC. 2010. pp. 774-779
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