Abstract
This paper proposes a grasping force control system by using a series-elastic actuator and an optical mouse sensor for master-slave systems. In the proposed system, the grasping force is controlled by controlling the falling velocity of the grasping object to be a very small value near zero, for example, 1 mm/s. During slipping with very low velocity condition, the applied force to the object is kept near the minimum value to hold the object. This gives information about what is the minimum force to keep the object held. To evaluate the validity of the proposed system, experiments were conducted by implementing it to a two-stage series-elastic actuator (SEA) system that has two springs with different stiffness. By designing the force control system based on a two-stage SEA, the grasping force can be finely controlled. Also, the optical mouse sensor which can measure the displacement of the grasping object is implemented to control the falling velocity of the grasping object. The experimental results showed that the falling velocity can be controlled to be around 1 mm/s and that the grasping force to prevent slipping was applied to it when the unexpected disturbance was applied to it by setting the target value to a more minute value, 0.1 mm/s. Therefore, an appropriate minimum force to grasp the object can be successfully found by using the proposed method.
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Shimizu, S., Saito, M., Ishikawa, J. (2018). Performance Evaluation of Grasping Force Control Based on Fall Velocity Control of Grasping Object for Telemanipulation Systems. In: Duy, V., Dao, T., Zelinka, I., Kim, S., Phuong, T. (eds) AETA 2017 - Recent Advances in Electrical Engineering and Related Sciences: Theory and Application. AETA 2017. Lecture Notes in Electrical Engineering, vol 465. Springer, Cham. https://doi.org/10.1007/978-3-319-69814-4_41
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DOI: https://doi.org/10.1007/978-3-319-69814-4_41
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