Control of grasping force by detecting stick/slip distribution at the curved surface of an elastic finger

Takashi Maeno, Shinichi Hiromitsu, Takashi Kawai

研究成果: Conference article査読

72 被引用数 (Scopus)

抄録

A method for controlling the grasping force when an object is grasped by artificial elastic fingers is proposed. First, the relationship between the stick area and the internal strain distribution of the finger is calculated using FE (finite element) analysis. Based on this relationship, a method is proposed for controlling the grasping force by decreasing the increasing ratio of the tangential force when the stick area is decreasing. Finally, the grasping force is controlled using an actual elastic finger, which is made of silicone rubber and in which strain gages are incorporated. It is confirmed that objects can be grasped using adequate grasping force without complete slippage, even when the weight and the friction coefficient of the objects are unknown.

本文言語English
ページ(範囲)3895-3900
ページ数6
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
4
出版ステータスPublished - 2000 12月 3
イベントICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
継続期間: 2000 4月 242000 4月 28

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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