Regulation and control of LARM Hand III

被引：21

作者：

Carbone, Giuseppe ^{[1
]}

Iannone, Stefano ^{[1
]}

Ceccarelli, Marco ^{[1
]}

机构：

[1] Univ Cassino, LARM Lab Robot & Mech, DiMSAT, I-03043 Cassino, Fr, Italy

来源：

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2010年 / 26卷 / 02期

关键词：

Robotic hands; Regulation of the grasp; Experimental tests; DESIGN;

D O I：

10.1016/j.rcim.2009.05.002

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

This paper addresses the problem of regulation and control of the grasp in a three finger robotic hand. In particular, the operation of a built prototype of LARM Hand III has been investigated. This robotic hand has been designed and built at LARM: Laboratory of Robotics and Mechatronics in Cassino. Two control algorithms have been developed for its controlled operation. The first one is a position control with a force threshold that limits the maximum grasping force to a given value. The second control algorithm is a force control with inner position loop that keeps the grasping force at a given value. The control algorithms have been implemented in the robotic hand by means of a virtual instrument in LabVIEW environment. A test-bed has been set up at LARM for experimentally validating the proposed algorithms. Results of experimental tests demonstrate the effectiveness and engineering feasibility of the proposed algorithms. (C) 2009 Elsevier Ltd. All rights reserved.

引用

页码：202 / 211

页数：10

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