Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Development of Intelligent Robot's Hand with Three-Axis Finger Force Sensors for Intelligent Robot

3축 손가락 힘센서를 가진 지능로봇의 지능형 로봇손 개발

  • 김갑순 (경상대학교 제어계측공학과, ERI) ;
  • 신희준 (경상대학교 제어계측공학과, ERI)
  • Published : 2009.03.01
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Abstract

This paper describes the intelligent robot's hand with three-axis finger force sensors for an intelligent robot. In order to grasp an unknown object safely, it should measure the mass of the object, and determine the grasping force using the mass, then control the robot's fingers with the grasping force. In this paper, the intelligent robot's hand for an intelligent robot was developed. First, the three-axis finger force sensors were designed and manufactured, second, the intelligent robot's hand with three-axis finger force sensors were designed and fabricated, third, the high-speed control system was designed and manufactured using DSP( digital signal processor), finally, the characteristic test to grasp an unknown object safely was carried out. It was confirmed that the developed intelligent robot's hand could grasp an unknown object safely.

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References

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