Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2006.04a
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- Pages.315-317
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- 2006
Grasping power control of robot gripper
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Abstract
In addition to accurate position and velocity control, force control is necessary for a successful robot operation. In this paper, we have designed a simple robot gripper using a DC motor. For its force control, a current feedback control law is presented without using additional force sensors. Experimental results prove the effectiveness of the proposed control law. A digital controller is also developed with a TMS320LF2406 processor.