Abstract:
A compliance control method is proposed for grasping objects in this paper. A bionic robot hand with force sensor and five under-actuated fingers is presented. To analyze...Show MoreMetadata
Abstract:
A compliance control method is proposed for grasping objects in this paper. A bionic robot hand with force sensor and five under-actuated fingers is presented. To analyze the influence of robot hand spring stiffness and object stiffness on the dynamic response, the system characteristics of tendon-driven robot hand is studied. Compliance controller is designed to improve the response characteristics of the system. Experiments on the SHU-II robot hand are carried out, and the results verify the effectiveness of the proposed method.
Published in: 2016 Chinese Control and Decision Conference (CCDC)
Date of Conference: 28-30 May 2016
Date Added to IEEE Xplore: 08 August 2016
ISBN Information:
Electronic ISSN: 1948-9447
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