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

S. Sugano, S. Tsuto, I. Kato

研究成果: Conference contribution

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月 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月 71992 7月 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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