Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1988.11a
- /
- Pages.455-458
- /
- 1988
GRASPING FORCE CONTROL OF ROBOT HAND
- Sim, Kwee-Bo (Institute of Industrial Science University of Tokyo) ;
- Hashimoto, Hideki (Institute of Industrial Science University of Tokyo) ;
- Harashima, Fumio (Institute of Industrial Science University of Tokyo)
- Published : 1988.11.25
Abstract
In this paper, a grasping force control of robot hand is presented with consideration of workpiece dynamics. It is difficult to control a manipulator without the knowledge of Its dynamics, because its handling with unknown workpiece may bring about overshoots and vibrations. Then it is necessary to adjust control gains according to the handling workpieces in order to achieve good control performances. The authors propose a new control strategy which uses adaptive observer and VSS (
Keywords