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http://dx.doi.org/10.5302/J.ICROS.2010.16.9.846

Precise Control Law Design of Robot Finger Embedding Distributed Actuation Mechanism  

Shin, Young-June (Korea Advanced Institute of Science and Technology)
Kim, Kyung-Soo (Korea Advanced Institute of Science and Technology)
Kim, Soo-Hyun (Korea Advanced Institute of Science and Technology)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.16, no.9, 2010 , pp. 846-851 More about this Journal
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.
Keywords
artificial hand; robot finger; force control; distributed actuation mechanism;
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