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 publicationSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PublisherSociety of Instrument and Control Engineers (SICE)
Pages917-918
Number of pages2
ISBN (Print)9784907764395
Publication statusPublished - 2011 Jan 1
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: 2011 Sep 132011 Sep 18

Publication series

NameProceedings of the SICE Annual Conference

Conference

Conference50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CountryJapan
CityTokyo
Period11/9/1311/9/18

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Keywords

  • Sensorless
  • control
  • grasping
  • nonlinear
  • robot hand

ASJC Scopus subject areas

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

Cite this

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