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http://dx.doi.org/10.5302/J.ICROS.2009.15.3.300

Development of Intelligent Robot's Hand with Three-Axis Finger Force Sensors for Intelligent Robot  

Kim, Gab-Soon (경상대학교 제어계측공학과, ERI)
Shin, Hi-Jun (경상대학교 제어계측공학과, ERI)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.15, no.3, 2009 , pp. 300-305 More about this Journal
Abstract
This paper describes the intelligent robot's hand with three-axis finger force sensors for an intelligent robot. In order to grasp an unknown object safely, it should measure the mass of the object, and determine the grasping force using the mass, then control the robot's fingers with the grasping force. In this paper, the intelligent robot's hand for an intelligent robot was developed. First, the three-axis finger force sensors were designed and manufactured, second, the intelligent robot's hand with three-axis finger force sensors were designed and fabricated, third, the high-speed control system was designed and manufactured using DSP( digital signal processor), finally, the characteristic test to grasp an unknown object safely was carried out. It was confirmed that the developed intelligent robot's hand could grasp an unknown object safely.
Keywords
humanoid robot; intelligent gripper; intelligent robot; intelligent robot's hand; 3-axis force sensor;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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