Force control of the robot finger joint equipped with mechanical compliance adjuster

S. Sugano, S. Tsuto, I. Kato

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

36 Citations (Scopus)

Abstract

In controlling robot finger joints by providing them with compliance, an active method using information from a strain gauge or other kind of force sensor attached to a power transmission cable has been generally used. It is difficult for this method, however, to achieve an ideal degree of cimpliance for the robot finger joints due to a nonlinear term arising from the hardware. This study proposes a force control method of achieving am ideal degree of compliance for robot finger joints by directly building springs, mechanical elements, into the joints. A single-joint prototype model was fabricated in order to install this mechanism in a robot hand. The single-joint model consists of the main mechanical elements of springs, a spring compliance variation mechanism, damper, and a joint positioning mechanism. This paper describes the effectiveness of the new finger joint control mechanism and the force control method using this mechanism.

Original languageEnglish
Title of host publicationIROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationSensor-Based Robotics and Opportunties for its Industrial Applications
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2005-2013
Number of pages9
ISBN (Electronic)0780307372
DOIs
Publication statusPublished - 1992 Jan 1
Event1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 - Raleigh, United States
Duration: 1992 Jul 71992 Jul 10

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume3
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992
CountryUnited States
CityRaleigh
Period92/7/792/7/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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    Sugano, S., Tsuto, S., & Kato, I. (1992). Force control of the robot finger joint equipped with mechanical compliance adjuster. In IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications (pp. 2005-2013). [601933] (IEEE International Conference on Intelligent Robots and Systems; Vol. 3). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.1992.601933