Active gripping impedance force control with dual fingers hand

To further decrease the grasping damages with robot hand, active gripping impedance force control algorithm with dual fingers hand was developed based on dynamic coordination of force and position control Active impedance control and position PID control strategy with dual fingers were adopted in scheme. The change between actual gripping force acquired from the sensors and the setting one were as input command to impedance filters, and its signal output was used to revise position command of finger controllers. Simulation results show that, the dynamic coordination of gripping force and position can be pre-planned according to control requirements, with which can make fingers fast track the real time revised trajectory and realize dynamic tracking control of gripping force. Fast motion and force control with dual fingers are coordinated to reduce the grasping damages, so it has a wide range of industrial application prospect in automation grasping and assembly.