Method of Grasping Control by Computing Internal and External Impedances for Two Robot Fingers, and Its Application to Admittance Control of a Robot Hand-Arm System
Impedance control is an important technology used in the grasping control of a robot hand. Numerous studies related to grasping algorithms have been reported in recent years, with the contact force between robot fingers and the object to be grasped being primarily discussed in most cases. Generally,...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2015-08-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/61106 |
| _version_ | 1818119550384734208 |
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| author | Jian Huang Yoshinori Sano Ryota Hori Takayuki Hori Tetsuro Yabuta |
| author_facet | Jian Huang Yoshinori Sano Ryota Hori Takayuki Hori Tetsuro Yabuta |
| author_sort | Jian Huang |
| collection | DOAJ |
| description | Impedance control is an important technology used in the grasping control of a robot hand. Numerous studies related to grasping algorithms have been reported in recent years, with the contact force between robot fingers and the object to be grasped being primarily discussed in most cases. Generally, a coupling effect occurs between the internal loop of the grasping operation and the external loop of the interaction with the environment when a multi-fingered robot hand is used to complete a contact task. Therefore, a robot hand cannot hold an object using a large external force to complete a wide range of tasks by applying the conventional method. In this paper, the coupling of the internal/external forces occurring in grasping operations using multiple fingers is analysed. Then, improved impedance control based on the previous method is proposed as an effective tool to solve the problem of grasping failure caused by single-finger contact. Furthermore, a method for applying the improved grasping algorithm to the admittance control of a robot hand-arm system is also proposed. The proposed method divides the impedance effect into the grasping control of the hand and the cooperative control of the arm, so that expanding the task space and increasing the flexibility of impedance adjustment can be achieved. Experiments were conducted to demonstrate the effectiveness of the proposed method. |
| first_indexed | 2024-12-11T05:11:59Z |
| format | Article |
| id | doaj.art-5154d144d1164e109f4c9ed16d6c0af9 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-11T05:11:59Z |
| publishDate | 2015-08-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-5154d144d1164e109f4c9ed16d6c0af92022-12-22T01:19:54ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142015-08-011210.5772/6110610.5772_61106Method of Grasping Control by Computing Internal and External Impedances for Two Robot Fingers, and Its Application to Admittance Control of a Robot Hand-Arm SystemJian Huang0Yoshinori Sano1Ryota Hori2Takayuki Hori3Tetsuro Yabuta4 Faculty of Engineering, Kinki University, Japan Graduate School of Engineering, Yokohama National University, Japan Graduate School of Engineering, Yokohama National University, Japan Graduate School of Engineering, Yokohama National University, Japan Graduate School of Engineering, Yokohama National University, JapanImpedance control is an important technology used in the grasping control of a robot hand. Numerous studies related to grasping algorithms have been reported in recent years, with the contact force between robot fingers and the object to be grasped being primarily discussed in most cases. Generally, a coupling effect occurs between the internal loop of the grasping operation and the external loop of the interaction with the environment when a multi-fingered robot hand is used to complete a contact task. Therefore, a robot hand cannot hold an object using a large external force to complete a wide range of tasks by applying the conventional method. In this paper, the coupling of the internal/external forces occurring in grasping operations using multiple fingers is analysed. Then, improved impedance control based on the previous method is proposed as an effective tool to solve the problem of grasping failure caused by single-finger contact. Furthermore, a method for applying the improved grasping algorithm to the admittance control of a robot hand-arm system is also proposed. The proposed method divides the impedance effect into the grasping control of the hand and the cooperative control of the arm, so that expanding the task space and increasing the flexibility of impedance adjustment can be achieved. Experiments were conducted to demonstrate the effectiveness of the proposed method.https://doi.org/10.5772/61106 |
| spellingShingle | Jian Huang Yoshinori Sano Ryota Hori Takayuki Hori Tetsuro Yabuta Method of Grasping Control by Computing Internal and External Impedances for Two Robot Fingers, and Its Application to Admittance Control of a Robot Hand-Arm System International Journal of Advanced Robotic Systems |
| title | Method of Grasping Control by Computing Internal and External Impedances for Two Robot Fingers, and Its Application to Admittance Control of a Robot Hand-Arm System |
| title_full | Method of Grasping Control by Computing Internal and External Impedances for Two Robot Fingers, and Its Application to Admittance Control of a Robot Hand-Arm System |
| title_fullStr | Method of Grasping Control by Computing Internal and External Impedances for Two Robot Fingers, and Its Application to Admittance Control of a Robot Hand-Arm System |
| title_full_unstemmed | Method of Grasping Control by Computing Internal and External Impedances for Two Robot Fingers, and Its Application to Admittance Control of a Robot Hand-Arm System |
| title_short | Method of Grasping Control by Computing Internal and External Impedances for Two Robot Fingers, and Its Application to Admittance Control of a Robot Hand-Arm System |
| title_sort | method of grasping control by computing internal and external impedances for two robot fingers and its application to admittance control of a robot hand arm system |
| url | https://doi.org/10.5772/61106 |
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