A mathematical model of six-axis force/moment sensor and its applied control method for robot finger

Author

Luo, Minghua ; Huang, Qingjiu ; Zhang, Tieling

Author_Institution

Dept. of Tech. Eng., Japan Machinery Co., Tokyo

fYear

2007

fDate

15-18 Dec. 2007

Firstpage

1960

Lastpage

1965

Abstract

This paper proposed a mathematical model of six- axis force/moment sensor for robot finger and a new method of feedback control for how to use it. With this proposed mathematical model of this kind of sensor, the grasping force and its moment can be calculated. And then, a new control method of feedback control for grasping control is also proposed and described. With this control method, a robot hand can grasps an object imitating human grasping. We also manufactured this sensor and equipped with a robot hand to examine the mathematical model and method. The test results present approximate relationship between input and output of the sensor and an ideal control result.

Keywords

feedback; force sensors; manipulators; feedback control; mathematical model; object grasping control; robot finger control method; six-axis force/moment sensor; Feedback control; Fingers; Force control; Force feedback; Force sensors; Grasping; Humans; Mathematical model; Robot control; Robot sensing systems; Grasping; Mathematical model; Robot finger and hand; Six-Axis Force/Moment sensor; feedback control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on

Conference_Location

Sanya

Print_ISBN

978-1-4244-1761-2

Electronic_ISBN

978-1-4244-1758-2

Type

conf

DOI

10.1109/ROBIO.2007.4522467

Filename

4522467