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

Ken Ichi Sonoda, Akira Shimada

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
ページ774-779
ページ数6
DOI
出版ステータスPublished - 2010 6 25
イベント2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
継続期間: 2010 3 212010 3 24

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Conference

Conference2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
国/地域Japan
CityNagaoka, Niigata
Period10/3/2110/3/24

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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