Sensor-less grasping control on two-fingered robot hands

Akira Shimada, Kenichi Sonoda, Yuki Satoh

研究成果

3 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
ページ40-45
ページ数6
出版ステータスPublished - 2009 12 1
イベントICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 - Fukuoka, Japan
継続期間: 2009 8 182009 8 21

出版物シリーズ

名前ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings

Conference

ConferenceICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
国/地域Japan
CityFukuoka
Period09/8/1809/8/21

ASJC Scopus subject areas

  • 情報システム
  • 制御およびシステム工学
  • 産業および生産工学

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