Test setup for multi-finger gripper control based on robot operating system (ROS)

This paper presents the concept for a test setup to prototype control algorithms for a multi-finger gripper. The human-robot interface has to provide enough degrees of freedom (DOF) to intuitively control advanced gripper and to accomplish this task a simple sensor glove equipped with flex and force sensors has been prepared for this project. The software architecture has to support both real hardware and simulation, as well as flexible communication standards, therefore, ROS architecture was employed in this matter. Paper presents some preliminary results for using sensor glove and simulated model of the three finger gripper.