제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Position control for multifingered robot hand

  • Kim, Jung-Ha (Robotics Laboratory, Department of Mechanical Engineering, Research Institute of Industrial Science and Technology) ;
  • Jeong, Kyu-Won (Robotics Laboratory, Department of Mechanical Engineering, Research Institute of Industrial Science and Technology) ;
  • Youm, Young-Il (Pohang Institute of Science and Technology)
  • Published : 1991.10.01
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Abstract

The problem of fine manipulation is considered in this paper. By fine manipulation, we mean the positioning of the object relative to the palm as opposed to gross manipulation by the arm. The compliance in the fingers and the object is modeled by linear springs. It is shown that the motion of the fingers and object can be predicted by minimizing a quadratic objective function. A method for simulating position control algorithms is developed.

Keywords