TY - GEN
T1 - Force control of the robot finger joint equipped with mechanical compliance adjuster
AU - Sugano, S.
AU - Tsuto, S.
AU - Kato, I.
PY - 1992/1/1
Y1 - 1992/1/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0012360417&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0012360417&partnerID=8YFLogxK
U2 - 10.1109/IROS.1992.601933
DO - 10.1109/IROS.1992.601933
M3 - Conference contribution
AN - SCOPUS:0012360417
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2005
EP - 2013
BT - IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992
Y2 - 7 July 1992 through 10 July 1992
ER -