Grasping Force Control for a Robotic Hand by Slip Detection Using Developed Micro Laser Doppler Velocimeter
نویسندگان
چکیده
منابع مشابه
Grasping Force Control for a Robotic Hand by Slip Detection Using Developed Micro Laser Doppler Velocimeter
The purpose of this paper is to show the feasibility of grasping force control by feeding back signals of the developed micro-laser Doppler velocimeter (μ-LDV) and by discriminating whether a grasped object is slipping or not. LDV is well known as a high response surface velocity sensor which can measure various surfaces-such as metal, paper, film, and so on-thus suggesting the potential applic...
متن کاملHand Posture Subspaces for Dexterous Robotic Grasping
In this paper we focus on the concept of low-dimensional posture subspaces for artificial hands. We begin by discussing the applicability of a hand configuration subspace to the problem of automated grasp synthesis our results show that low-dimensional optimization can be instrumental in deriving effective pre-grasp shapes for a number of complex robotic hands. We then show that the computation...
متن کاملDirectional spatial-resolved laser Doppler velocimeter using a two-colour fibre laser
A concept for the realisation of directional laser Doppler velocimeters (LDV), without having to use opto-electronic modulators like Bragg cells is presented. The concept is based on the use of a diode-pumped fibre laser, emitting at two different wavelengths. The two laser colours are used to generate two interference fringe systems in the measuring volume of the LDV system. The fringe systems...
متن کاملDextrous hand grasping force optimization
— A key goal in dextrous robotic hand grasping is to balance external forces and at the same time achieve grasp stability and minimum grasping energy by choosing an appropriate set of internal grasping forces. Since it appears that there is no direct algebraic optimization approach, a recursive optimization, which is adaptive for application in a dynamic environment, is required. One key observ...
متن کاملRobust Robotic Grasping Based on Nonlinear Force Feedback Control
Robotic hands for dexterous manipulation and robust grasping have always been in high demand. Many applications of pneumatic devices are enabled due to recent developments in pneumatic actuation technology, for which previously only electric motors were suitable. Low stiffness and direct drive capabilities of pneumatic actuators enable smooth compliant geared electric motor systems. A new robot...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Sensors
سال: 2018
ISSN: 1424-8220
DOI: 10.3390/s18020326