TY - GEN
T1 - Grasping force control in master-slave system with partial slip sensor
AU - Koda, Yuta
AU - Maeno, Takashi
PY - 2006/12/1
Y1 - 2006/12/1
N2 - This paper discusses the development and control of the master-slave system capable of grasping an object with unknown coefficient of static friction. Partial slip information is known to be essential for conducting stable grasping in teleoperating system. The developed partial slip sensor contains strain gages in several ridges placed on the curvature contact surface of the elastic body. By measuring strain velocity of each ridge with the strain gages, the vibration that occurs due to the partial slip can be detected. We developed the master-slave system with the slave robot uses the developed sensor to detect a partial slip and automatically controls the grasping force. When an operator intentionally decreases the grasping force applied to the master device in order to release an object, the suppressor suppresses grasping force that is automatically increased by the slave robot. Through the grasp manipulation experiment, the validity of the developed system was confirmed.
AB - This paper discusses the development and control of the master-slave system capable of grasping an object with unknown coefficient of static friction. Partial slip information is known to be essential for conducting stable grasping in teleoperating system. The developed partial slip sensor contains strain gages in several ridges placed on the curvature contact surface of the elastic body. By measuring strain velocity of each ridge with the strain gages, the vibration that occurs due to the partial slip can be detected. We developed the master-slave system with the slave robot uses the developed sensor to detect a partial slip and automatically controls the grasping force. When an operator intentionally decreases the grasping force applied to the master device in order to release an object, the suppressor suppresses grasping force that is automatically increased by the slave robot. Through the grasp manipulation experiment, the validity of the developed system was confirmed.
KW - Grasping
KW - Manipulation
KW - Master-slave system
KW - Partial slip
UR - http://www.scopus.com/inward/record.url?scp=34250622532&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34250622532&partnerID=8YFLogxK
U2 - 10.1109/IROS.2006.282173
DO - 10.1109/IROS.2006.282173
M3 - Conference contribution
AN - SCOPUS:34250622532
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4641
EP - 4646
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -