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

S. Sugano, S. Tsuto, I. Kato

研究成果

39 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルIROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems
ホスト出版物のサブタイトルSensor-Based Robotics and Opportunties for its Industrial Applications
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2005-2013
ページ数9
ISBN(電子版)0780307372
DOI
出版ステータスPublished - 1992 1 1
イベント1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 - Raleigh, United States
継続期間: 1992 7 71992 7 10

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
3
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

Conference

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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