Title :
Design of a Flexible Multifingered Robotics Hand with 12 D. O. F and Its Control Applications
Author :
Le, Xuan-Thu ; Kim, Wn-Goo ; Kim, Byong-Chang ; Han, Sung-Hyun ; Ann, Jong-Guk ; Ha, Young-Ho
Author_Institution :
Dept. of Mech. Eng., Kyungnam Univ., Masan
Abstract :
The focus of this paper is to design a flexible three fingered hand system with 12 D.O.F for dynamic manipulation with an intelligent controller, and to build a useful database for dynamic manipulation based on the experimental results. The weight of the hand module is only 0.6 kg, but flexible motion and powerful grasping are possible. To achieve such a dynamic motion in a robotic hand, we have developed a flexible fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand
Keywords :
control system CAD; dexterous manipulators; feedback; flexible manipulators; grippers; image recognition; intelligent control; manipulator dynamics; manipulator kinematics; robot vision; 12 DOF; control system; dynamic manipulation; flexible multifingered robotics hand; grippers; image recognition system; intelligent controller; Actuators; Cities and towns; Control systems; Fingers; Grasping; Humans; Manipulator dynamics; Motion control; Robotics and automation; Robots; 12 D.O.F; Flexibility; Flexible Grasping; Hand Design; Image Recognition; Robotic Hand Control;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.315164
