Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Precise Control Law Design of Robot Finger Embedding Distributed Actuation Mechanism

분산 구동 메커니즘을 내장한 로봇 핑거의 정밀 자세 제어기 설계

  • Received : 2010.06.10
  • Accepted : 2010.07.20
  • Published : 2010.09.01
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Abstract

In this paper, we newly propose a novel control strategy of a three joints-robot finger for the purpose of artificial hands. The robot finger is specifically modeled by using a 3D CAD program (CATIA), considering human fingers, and then the proposed control method is verified through the dynamic simulation tool (Simulink and Recurdyn R2). Each slider is individually controlled to be located at the optimal positions where the maximal joint torque can be generated. To prove the effectiveness of the proposed control method, we devise two cases for the reference position of sliders. By comparing the control performance of two cases, the validity of the proposed control method will be verified.

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References

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