Sensor-less grasping control on two-fingered robot hands

Akira Shimada, Kenichi Sonoda, Yuki Satoh

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

3 Citations (Scopus)

Abstract

This paper introduces a sensor-less grasping control technique for two finger robot hands. Each finger of the prototype of hands consists of two links driven by electrical motors and mechanical spring is mounted on each joint. That is the fingers can move and realize intended poses against the force of springs. But it causes the necessary condition of observability and we can design an observer in order to estimate the joint angles of fingers. The basic principle and a few brief applications of the sensor-less control technique was already presented by Shimada et.al, but our reserch is extended to practical robot hand systems in this paper. Although rotary encoders are mounted on all of joints, they are used not to control but only to detect the joint angles in order to evaluate the presented sensor-less control technique.

Original languageEnglish
Title of host publicationICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
Pages40-45
Number of pages6
Publication statusPublished - 2009
EventICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 - Fukuoka
Duration: 2009 Aug 182009 Aug 21

Other

OtherICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
CityFukuoka
Period09/8/1809/8/21

Fingerprint

End effectors
Robots
Sensors
Observability

Keywords

  • Compliance
  • Cooperative control
  • Grasping control
  • Robot hand
  • Sensor-less

ASJC Scopus subject areas

  • Information Systems
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering

Cite this

Shimada, A., Sonoda, K., & Satoh, Y. (2009). Sensor-less grasping control on two-fingered robot hands. In ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings (pp. 40-45). [5335115]

Sensor-less grasping control on two-fingered robot hands. / Shimada, Akira; Sonoda, Kenichi; Satoh, Yuki.

ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings. 2009. p. 40-45 5335115.

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

Shimada, A, Sonoda, K & Satoh, Y 2009, Sensor-less grasping control on two-fingered robot hands. in ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings., 5335115, pp. 40-45, ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009, Fukuoka, 09/8/18.
Shimada A, Sonoda K, Satoh Y. Sensor-less grasping control on two-fingered robot hands. In ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings. 2009. p. 40-45. 5335115
Shimada, Akira ; Sonoda, Kenichi ; Satoh, Yuki. / Sensor-less grasping control on two-fingered robot hands. ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings. 2009. pp. 40-45
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