An approach to sensor-less grasping nd movement control on two-fingered robot hands

Akira Shimada, Kenichi Sonoda, Shinsaku Unuma

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

Abstract

This paper introduces a sensorless grasping and movement control technique on robot hands. A great number of robot hands have been developed and most of the hands mount many kind of sensors. However, use of the many sensors increase the cost of robot hands and decrease the reliance. Meanwhile, Shimada et.al. presented an unique sensorless control technique for electric motor driven mechanical systems. Furthermore, they have tried to extend the sensorless control technique to multi-finger robot hands. The observer is fragile for coulomb friction. To solve this problem, we introduce a nonlinear observer. This paper describes a design way of the observer and show some simulation results.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages917-918
Number of pages2
Publication statusPublished - 2011
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo
Duration: 2011 Sep 132011 Sep 18

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CityTokyo
Period11/9/1311/9/18

Fingerprint

End effectors
Robots
Sensors
Electric motors
Friction
Costs
Sensorless control

Keywords

  • control
  • grasping
  • nonlinear
  • robot hand
  • Sensorless

ASJC Scopus subject areas

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

Cite this

Shimada, A., Sonoda, K., & Unuma, S. (2011). An approach to sensor-less grasping nd movement control on two-fingered robot hands. In Proceedings of the SICE Annual Conference (pp. 917-918). [6060624]

An approach to sensor-less grasping nd movement control on two-fingered robot hands. / Shimada, Akira; Sonoda, Kenichi; Unuma, Shinsaku.

Proceedings of the SICE Annual Conference. 2011. p. 917-918 6060624.

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

Shimada, A, Sonoda, K & Unuma, S 2011, An approach to sensor-less grasping nd movement control on two-fingered robot hands. in Proceedings of the SICE Annual Conference., 6060624, pp. 917-918, 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011, Tokyo, 11/9/13.
Shimada A, Sonoda K, Unuma S. An approach to sensor-less grasping nd movement control on two-fingered robot hands. In Proceedings of the SICE Annual Conference. 2011. p. 917-918. 6060624
Shimada, Akira ; Sonoda, Kenichi ; Unuma, Shinsaku. / An approach to sensor-less grasping nd movement control on two-fingered robot hands. Proceedings of the SICE Annual Conference. 2011. pp. 917-918
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