대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2006년도 심포지엄 논문집 정보 및 제어부문
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- Pages.315-317
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- 2006
로봇 그립퍼의 악력 제어
Grasping power control of robot gripper
초록
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.