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.
|ジャーナル||Proceedings - IEEE International Conference on Robotics and Automation|
|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 24 → 2000 4月 28
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