Grasping force control in master-slave system with partial slip sensor

Yuta Koda, Takashi Maeno

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

14 Citations (Scopus)

Abstract

This paper discusses the development and control of the master-slave system capable of grasping an object with unknown coefficient of static friction. Partial slip information is known to be essential for conducting stable grasping in teleoperating system. The developed partial slip sensor contains strain gages in several ridges placed on the curvature contact surface of the elastic body. By measuring strain velocity of each ridge with the strain gages, the vibration that occurs due to the partial slip can be detected. We developed the master-slave system with the slave robot uses the developed sensor to detect a partial slip and automatically controls the grasping force. When an operator intentionally decreases the grasping force applied to the master device in order to release an object, the suppressor suppresses grasping force that is automatically increased by the slave robot. Through the grasp manipulation experiment, the validity of the developed system was confirmed.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages4641-4646
Number of pages6
DOIs
Publication statusPublished - 2006
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

Fingerprint

Force control
Strain gages
Robots
Sensors
Friction
Experiments

Keywords

  • Grasping
  • Manipulation
  • Master-slave system
  • Partial slip

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Koda, Y., & Maeno, T. (2006). Grasping force control in master-slave system with partial slip sensor. In IEEE International Conference on Intelligent Robots and Systems (pp. 4641-4646). [4059149] https://doi.org/10.1109/IROS.2006.282173

Grasping force control in master-slave system with partial slip sensor. / Koda, Yuta; Maeno, Takashi.

IEEE International Conference on Intelligent Robots and Systems. 2006. p. 4641-4646 4059149.

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

Koda, Y & Maeno, T 2006, Grasping force control in master-slave system with partial slip sensor. in IEEE International Conference on Intelligent Robots and Systems., 4059149, pp. 4641-4646, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, China, 06/10/9. https://doi.org/10.1109/IROS.2006.282173
Koda Y, Maeno T. Grasping force control in master-slave system with partial slip sensor. In IEEE International Conference on Intelligent Robots and Systems. 2006. p. 4641-4646. 4059149 https://doi.org/10.1109/IROS.2006.282173
Koda, Yuta ; Maeno, Takashi. / Grasping force control in master-slave system with partial slip sensor. IEEE International Conference on Intelligent Robots and Systems. 2006. pp. 4641-4646
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