Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Development of Intelligent robot' hand with Three Finger Force Sensors

손가락 힘센서를 가진 지능형 로봇손 개발

  • Kim, Gab-Soon (Department of Control and Instrumentation Engineering, Gyeongsang Univ.) ;
  • Shin, Hyi-Jun (Department of Control and Instrumentation Engineering, Gyeongsang Univ.) ;
  • Kim, Hyeon-Min (Department of Control and Instrumentation Engineering, Gyeongsang Univ.)
  • 김갑순 (경상대학교 제어계측공학과) ;
  • 신희준 (경상대학교 제어계측공학과) ;
  • 김현민 (경상대학교 제어계측공학과)
  • Published : 2009.01.01
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Abstract

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

Keywords

References

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