Flexible handling by gripper with consideration of characteristics of objects
- 1 January 1986
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 703-708
- https://doi.org/10.1109/robot.1986.1087586
Abstract
Conventional robots in force control, which use the input-output position control system employing high reduction gears for drive control mechanisms, have dynamics of objects in the closed control loop. And so it is necessary to adjust control gains, depending on objects. For this purpose, a method of adaptive force control is presented with consideration of static and dynamic characteristics of objects. Some experiments are carried out for a gripper system to adjust the grasping and/or holding force to various objects whether they are soft and hard, and show the wider applicability and the flexible manipulation of the conventional gripper.Keywords
This publication has 8 references indexed in Scilit:
- Recent developments in adaptive controlPublished by Springer Nature ,2005
- The effect of wrist force sensor stiffness on the control of robot manipulatorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Computer simulation of controlled impedance robot handPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Impedance Control: An Approach to Manipulation: Part I—TheoryJournal of Dynamic Systems, Measurement, and Control, 1985
- Hybrid Position/Force Control of ManipulatorsJournal of Dynamic Systems, Measurement, and Control, 1981
- The Application of Model-Referenced Adaptive Control to Robotic ManipulatorsJournal of Dynamic Systems, Measurement, and Control, 1979
- Precision Insertion Control Robot and Its ApplicationJournal of Engineering for Industry, 1976
- Computer Controlled Bilateral ManipulatorBulletin of JSME, 1971