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SKKU Hand Arm System: Hardware and Control Scheme

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Robotic Grasping and Manipulation (RGMC 2016)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 816))

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Abstract

In this work, we introduce the SKKU Hand Arm System I (SKKU-HAS-I) focusing on the hardware design and control scheme of the arm and hand systems. For the robot arm system, a driving module unit is designed and the workspace analysis is performed for the arm. A Virtual Spring Damper based controller is applied to the arm system for the task of the control. The design of the robot hand is based on mimicking the human hand and we perform an optimization process for three different design measures, workspace intersection volumes, manipulability, and opposing angles. The developed robot hand is equipped with various sensors for the contact information. Experimental results are provided for the evaluation of the developed robot hand.

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Authors and Affiliations

  1. Mechanical Engineering, Sungkyunkwan University, Suwon, Korea

    Dongmin Choi, Byung-jin Jung & Hyungpil Moon

Authors
  1. Dongmin Choi
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  2. Byung-jin Jung
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  3. Hyungpil Moon
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Corresponding author

Correspondence to Hyungpil Moon .

Editor information

Editors and Affiliations

  1. University of South Florida, Tampa, Florida, USA

    Yu Sun

  2. National Institute of Standards and Technology, Gaithersburg, Maryland, USA

    Joe Falco

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Choi, D., Jung, Bj., Moon, H. (2018). SKKU Hand Arm System: Hardware and Control Scheme. In: Sun, Y., Falco, J. (eds) Robotic Grasping and Manipulation. RGMC 2016. Communications in Computer and Information Science, vol 816. Springer, Cham. https://doi.org/10.1007/978-3-319-94568-2_7

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  • DOI: https://doi.org/10.1007/978-3-319-94568-2_7

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-94567-5

  • Online ISBN: 978-3-319-94568-2

  • eBook Packages: Computer ScienceComputer Science (R0)

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