Title :
A study on real-time grasping control of hand-fingers with 15 joints
Author :
Moon-Youl Park ; Byoung-Kyun Shim ; Ki-Won Sung ; Sung-Won Jung ; Yang-Keun Jeong ; Eon-Uck Kang ; Sung-Hyun Han
Author_Institution :
Dept. of Adv. Eng., Kyungnam Univ., Changwon, South Korea
Abstract :
Recently it is very important to control robot hands more compact and integrated 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 flexible grasping control of hand fingers, which consists of a flexible multi-fingered hand-arm system.
Keywords :
dexterous manipulators; grippers; motion control; flexible grasping control; flexible multifingered hand-arm system; hand-fingers; real-time grasping control; Computational modeling; Educational institutions; Force measurement; Robot kinematics; Robot sensing systems; Thumb; Grasping Control; Hand Finger; Precise Sensing; Real Time Control;
Conference_Titel :
Robotics (ISR), 2013 44th International Symposium on
Conference_Location :
Seoul
DOI :
10.1109/ISR.2013.6695612
