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

Akira Shimada, Kenichi Sonoda, Shinsaku Unuma

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
出版社Society of Instrument and Control Engineers (SICE)
ページ917-918
ページ数2
ISBN(印刷版)9784907764395
出版ステータスPublished - 2011 1 1
イベント50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
継続期間: 2011 9 132011 9 18

出版物シリーズ

名前Proceedings of the SICE Annual Conference

Conference

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 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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