Transactions of the Korean Society of Machine Tool Engineers (한국공작기계학회논문집)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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A Study on Stable Grasping Motion Control of Dual-Finger

듀얼-핑거의 안정적 파지 운동 제어에 관한 연구

  • 엄혁 (부산대학교 대학원 지능기계공학과) ;
  • 최종환 (울산대학교 산학협력단 연구원) ;
  • 김승수 (울산대학교 산학협력단 연구원) ;
  • 한현용 (춘해대학 의료공학과) ;
  • 양순용 (울산대학교 기계 자동차공학부) ;
  • 이진걸 (부산대학교 기계공학부)
  • Published : 2005.08.01
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Abstract

This paper attempts to derive the dynamic model of handling tasks in finger robot which grasps stable and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, the roblems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. The effect of geometric constraints of area-contacts between the link's end-effector and the object is analyzed and the model based on the differential-algebraic equations is presented. In this paper, the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation and the experiment that the control system gives the performance improvement in the dynamic stable grasping and nimble manipulating of the dual fingers robot with soft tips.

Keywords

References

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