scholarly journals Analysis of Prehension Characteristics of Robot Hand Control System with Elastic Finger and Its Synthesis

1977 ◽  
Vol 13 (6) ◽  
pp. 587-594
Author(s):  
Hideo HANAFUSA ◽  
Haruhiko ASADA
Keyword(s):  
Control System ◽  
Robot Hand ◽  
Hand Control

Anthropomorphic Robot Hand "Gifu-Hand II" and Hand Control System

2000 ◽  
Vol 2000.1 (0) ◽  
pp. 467-468
Author(s):  
Haruhisa KAWASAKI ◽  
Tatsuhisa ABE ◽  
Tetsuya MOURI ◽  
Kazunao UTIYAMA
Keyword(s):  
Control System ◽  
Robot Hand ◽  
Hand Control

scholarly journals Application of Tactile Slippage Sensation Algorithm in Robot Hand Control System

2012 ◽  
Vol 17 (4) ◽  
pp. 9-15
Author(s):  
Hanafiah Yussof ◽  
Ahmed Jaffar ◽  
Nur Ismarrubie Zahari ◽  
Masahiro Ohka
Keyword(s):  
Control System ◽  
Robot Hand ◽  
Hand Control

Neural network architecture for robot hand control

1989 ◽  
Vol 9 (3) ◽  
pp. 38-43 ◽  
Author(s):  
H. Liu ◽  
T. Iberall ◽  
G.A. Bekey
Keyword(s):  
Neural Network ◽  
Network Architecture ◽  
Robot Hand ◽  
Neural Network Architecture ◽  
Hand Control

Grasp Transfer Control Using Cartesian Coordinate Two-Link Robot Arm with Prototype Robot Hand Consisting of Stepping Motors, Gears and Plate Springs

2008 ◽  
Vol 2 (5) ◽  
pp. 360-367
Author(s):  
Ping Han ◽  
◽  
Hiroyuki Kojima ◽  
Lingfang Huang ◽  
Saputra Meruadi ◽  
...  
Keyword(s):  
Control System ◽  
Numerical Simulations ◽  
Permanent Magnet ◽  
Motion Control ◽  
Force Control ◽  
Feedforward Control ◽  
Robot Hand ◽  
Robot Arm ◽  
Grasp Force ◽  
Cartesian Coordinate

In this study, the grasp transfer control system by a Cartesian coordinate two-link robot arm with a prototype robot hand is presented. The prototype robot hand consists of permanent-magnet-type stepping motors, gears and plate springs. The grasp force control of the robot hand is performed by a feedforward control of the stepping motors based on the dimension of a grasped object. The Cartesian coordinate two-link robot arm consists of ball screws and hybrid stepping motors. Then the numerical simulations and experiments of the grasp transfer control have been carried out, and it is confirmed that the grasp transfer control could be successfully performed, and the grasp force could be accurately controlled among the motion control of the Cartesian coordinate two-link robot arm.

Development of a Personal Robot with the Modularized Link Units

1993 ◽  
Vol 5 (3) ◽  
pp. 306-313
Author(s):  
Shigeru Kurono ◽  
◽  
Shigeto Aramaki ◽  
Yoshikazu Fujino ◽  
Keyword(s):  
Control System ◽  
Reduction Gear ◽  
Software System ◽  
Robot Hand ◽  
Position Sensor ◽  
Servo Motor ◽  
Servo Mechanism ◽  
Personal Robot ◽  
Hardware And Software System

If the links which can be used as the components of a robot are organized in a manner of ""modularized units"" equipped with an actuator, a sensory device, and even a servo-mechanism, respectively, many kinds of robots can be easily constructed and their flexibility will be greatly improved. For this purpose, we developed a modularized link unit comprised of a DC servo motor, a position sensor, and a reduction gear set. This unit has a number of characteristics such as having large torque and small backlash, making the direction of the robot hand independent of its position, and so on. Using these units, we constructed a ""personal robot"" and developed its control system. In this paper, we introduce the composition and characteristics of our link unit, and illustrate the hardware and software system of a robot made from the modularized link units in this study.

Sign in / Sign up

Export Citation Format

Share Document