DCサーボモータによる把持力制御

概要

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In this paper, the control method to gripping by means of a robot hand that automatically discriminates among rigid body, middle body and soft body is proposed. Further, an anti-fall method due to slipping of gripping body is made a trial by using a slipping sensor due to rotary encoder form to improve the reliability. For a control of gripping behavior in this paper, the grip force control is enforced by means of DC servo motor instead of the stepping motor by reason of which have a week gripping force and a slow gripping behavior. Still more, gripping control program is constructed by means of Visual Basic by reason of that express many data of gripping movement visually.
津山工業高等専門学校の論文