Compliance control of a position controlled robotic hand using F/T sensors

Abstract

There are a variety of robotic hands with many different hardware configurations including many sensors. For a robotic hand, physical interaction between the hand and objects is an interesting point. Compliance control is of great importance in grasping arbitrary object. In this paper, compliance control of position controlled robotic hand is attempted with external sensor on the finger tip. Utilizing an F/T sensor, sensor compensation first and then gravity compensation are executed. Overall system and algorithm are analyzed with the proposed controllers. For validating the proposed method, low-pass filter (LPF), sensor initial calibration are conducted and showed competent results.

Study of six-degree-of-freedom wave characteristics simulator based on admittance control

“…The wave characteristics simulator uses the traditional six-degree-of-freedom Stewart structure [13], the servo-hydraulic system is used as the drive, the upper platform is the load-bearing target platform. The upper and lower computers determine the desired displacement of each hydraulic cylinder by inputting commands to the platform and the operation of the inverse solution to realize the three translational movements of the upper platform in the Cartesian coordinate system and the rotation around the three coordinate axes.…”