TY - JOUR
T1 - Control of grasping force by detecting stick/slip distribution at the curved surface of an elastic finger
AU - Maeno, Takashi
AU - Hiromitsu, Shinichi
AU - Kawai, Takashi
PY - 2000
Y1 - 2000
N2 - A method for controlling the grasping force when an object is grasped by artificial elastic fingers is proposed. First, the relationship between the stick area and the internal strain distribution of the finger is calculated using FE (finite element) analysis. Based on this relationship, a method is proposed for controlling the grasping force by decreasing the increasing ratio of the tangential force when the stick area is decreasing. Finally, the grasping force is controlled using an actual elastic finger, which is made of silicone rubber and in which strain gages are incorporated. It is confirmed that objects can be grasped using adequate grasping force without complete slippage, even when the weight and the friction coefficient of the objects are unknown.
AB - A method for controlling the grasping force when an object is grasped by artificial elastic fingers is proposed. First, the relationship between the stick area and the internal strain distribution of the finger is calculated using FE (finite element) analysis. Based on this relationship, a method is proposed for controlling the grasping force by decreasing the increasing ratio of the tangential force when the stick area is decreasing. Finally, the grasping force is controlled using an actual elastic finger, which is made of silicone rubber and in which strain gages are incorporated. It is confirmed that objects can be grasped using adequate grasping force without complete slippage, even when the weight and the friction coefficient of the objects are unknown.
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M3 - Conference article
AN - SCOPUS:0033706375
SN - 1050-4729
VL - 4
SP - 3895
EP - 3900
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
T2 - ICRA 2000: IEEE International Conference on Robotics and Automation
Y2 - 24 April 2000 through 28 April 2000
ER -