Friction Compensation and Control Strategy for the Dexterous Robotic Hands

摘要：

Friction in tendon based robot hands has been an unavoidable problem. With introduction of more dexterous and metamorphic hands this intrinsically non-linear and highly time-varying force has become an obstacle to achieve high performances and required accuracy which the robot designers are aiming for. This paper proposes a method to tackle the problem by measuring friction and applying it in a feed forward loop. The novelty of the method is in the possibility to perform the task automatically and on a regular basis to compensate the time varying phenomenon.

关键词： Robotic Robot hand Friction measurement Friction compensation Control

作者: Vahid Aminzadeh Rich Walker Ugo Cupcic Hugo Elias Jian S. Dai

作者单位: Kings College London, Strand, London Shadow Robot Company, 251 Liverpool Road, London, UK

会议类型: 国际会议

会议名称: The Second ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robote 第二届ASME/IFTOMM可重构机构与可重构机器人国际大会 ReMAR 2012

会议地点: 天津

会议语种:英文

页码: 697-705

在线出版日期: 2012-07-08（万方平台首次上网日期，不代表论文的发表时间）