A Study on Flexible Control of a Robot Hand Gripper System for Space Manipulation

We present an experimental performance for the validation of a robotic hand gripper for space applications. In particular this researches focus on the compatibility of the gripper with the Fara robot arm, developed by Esp. Co. Ltd. This hand gripper is the wide working space compared with its physical dimensions and the capability to deal with free-flying objects in no-gravity conditions. This capability is achieved by using force/torque sensor and by properly controlling and coordinating the gripper and the carrying arm. After a brief illustration on the main features of the gripper, the experimental activity is presented and the results achieved are discussed