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Development of Intelligent robot' hand with Three Finger Force Sensors  

Kim, Gab-Soon (Department of Control and Instrumentation Engineering, Gyeongsang Univ.)
Shin, Hyi-Jun (Department of Control and Instrumentation Engineering, Gyeongsang Univ.)
Kim, Hyeon-Min (Department of Control and Instrumentation Engineering, Gyeongsang Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.26, no.1, 2009 , pp. 89-96 More about this Journal
Abstract
This paper describes the intelligent robot's hand with three finger sensors for a humanoid robot. In order to grasp an unknown object safely, the intelligent robot's hand should measure the mass of the object, and determine the grasping force using the mass, finally control the grasping force using the finger sensors and the controller. In this paper, the intelligent robot's hand for a humanoid robot was developed. First, the six-axis force/moment sensor was manufactured. second, three finger force sensors were designed and fabricated, third, the high-speed controller was manufactured using DSP(digital signal processor), finally, the characteristic test for determining a grasping force and for grasping an unknown object safely It is confirmed that the hand could grasp an unknown object safely.
Keywords
Intelligent Hand; Robot's Finger; 6-axis Force/Moment Sensor; Force Sensor; Interference Error;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
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