A study on gripping control of robotic hand with ten joints for cooperative working

Author

Moon-Youl Park ; Jun-Seok Yang ; Young-Mok Koo ; Byoung-Kyun Shim ; Yang-Keun Jeong ; Eon-Uck Kang ; Sung-Hyun Han

Author_Institution

Dept. of Adv. Eng., Kyungnam Univ., Changwon, South Korea

fYear

2014

fDate

22-25 Oct. 2014

Firstpage

307

Lastpage

309

Abstract

Recently it is very important to control robot hands more compact and precise sensors in order to increase compensate the grasping capability and to reduce cabling through the finger in the manipulator. As a matter of fact, the miniaturization and cabling harness represents a significant limitation to the design of small sized precise sensor. The main focus of this research is on a robust grasping control of hand fingers, which consists of a flexible multi-fingered with ten joints.

Keywords

compensation; dexterous manipulators; flexible manipulators; grippers; sensors; cabling harness; cabling reduction; cooperative working; flexible multifingered robot; grasping capability compensation; miniaturization; robot joints; robotic hand gripping control; robust hand finger grasping control; small-sized precise sensor design; Force; Force measurement; Real-time systems; Resistance; Robot sensing systems; Torque; Grasping Control; Hand Finger; Precise Sensing; Real Time Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2014 14th International Conference on

Conference_Location

Seoul

ISSN

2093-7121

Print_ISBN

978-8-9932-1506-9

Type

conf

DOI

10.1109/ICCAS.2014.6988009

Filename

6988009