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Compliance control of a position controlled robotic hand using F/T sensors | IEEE Conference Publication | IEEE Xplore

Compliance control of a position controlled robotic hand using F/T sensors


Abstract:

There are a variety of robotic hands with many different hardware configurations including many sensors. For a robotic hand, physical interaction between the hand and obj...Show More

Abstract:

There are a variety of robotic hands with many different hardware configurations including many sensors. For a robotic hand, physical interaction between the hand and objects is an interesting point. Compliance control is of great importance in grasping arbitrary object. In this paper, compliance control of position controlled robotic hand is attempted with external sensor on the finger tip. Utilizing an F/T sensor, sensor compensation first and then gravity compensation are executed. Overall system and algorithm are analyzed with the proposed controllers. For validating the proposed method, low-pass filter (LPF), sensor initial calibration are conducted and showed competent results.
Date of Conference: 23-26 November 2011
Date Added to IEEE Xplore: 06 February 2012
ISBN Information:
Conference Location: Incheon, Korea (South)

References

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